Visual servoing for the REEM humanoid robot's upper body

@article{Agravante2013VisualSF,
  title={Visual servoing for the REEM humanoid robot's upper body},
  author={Don Joven Agravante and Jordi Pag{\`e}s and François Chaumette},
  journal={2013 IEEE International Conference on Robotics and Automation},
  year={2013},
  pages={5253-5258}
}
In this paper, a framework for visual servo control of a humanoid robot's upper body is presented. The framework is then implemented and tested on the REEM humanoid robot. The implementation is composed of 2 controllers - a head gaze control and a hand position control. The main application is precise manipulation tasks using the hand. For this, the hand controller takes top priority. The head controller is designed to keep both the hand and object in the eye field of view. For robustness, a… CONTINUE READING
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