Eye-in-hand stereo visual servoing of an assistive robot arm in unstructured environments

  title={Eye-in-hand stereo visual servoing of an assistive robot arm in unstructured environments},
  author={Dae-Jin Kim and Ryan Lovelett and Aman Behal},
  journal={2009 IEEE International Conference on Robotics and Automation},
We document the progress in the design and implementation of a motion control strategy that exploits visual feedback from a narrow baseline stereo head mounted in the hand of a wheelchair mounted robot arm (WMRA) to recognize and grasp textured ADL objects for which one or more templates exist in a large image database. The problem is made challenging by kinematic uncertainty in the robot, imperfect camera and stereo calibration, as well as the fact that we work in unstructured environments… CONTINUE READING
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