Model-less visual servoing using modified simplex optimization

Kanako Miura, Koichi Hashimoto, Hikaru Inooka, Jacques A. Gangloff, Michel F. de Mathelin

Research output: Contribution to journalArticlepeer-review

6 Citations (Scopus)

Abstract

This article describes a robot positioning task with respect to a static target by visual servoing. The vision system is uncalibrated, and the kinematic model of the robot may be totally unknown. The displacements of the robot at joint level are generated in real time in order to minimize the objective function. The objective function includes the quadratic error between the current and the desired target images. A simplex method is used to minimize the objective function, and a Newton-like method is also used near convergence. We successfully validated this method with simulations under the graphic library OpenGL.

Original languageEnglish
Pages (from-to)131-135
Number of pages5
JournalArtificial Life and Robotics
Volume10
Issue number2
DOIs
Publication statusPublished - 2006 Nov

Keywords

  • Model-lessvisual servoing
  • Optimization
  • Uncalibrated visual servoing

ASJC Scopus subject areas

  • Biochemistry, Genetics and Molecular Biology(all)
  • Artificial Intelligence

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