A robust visual servoing system is investigated on a humanoid robot which grasps a brush in Chinese calligraphy task.The system is implemented based on uncalibrated visual servoing controller utilizing Kalman-Bucy fil...A robust visual servoing system is investigated on a humanoid robot which grasps a brush in Chinese calligraphy task.The system is implemented based on uncalibrated visual servoing controller utilizing Kalman-Bucy filter,with the help of an object detector by continuously adaptive MeanShift(CAMShift) algorithm.Under this control scheme,a humanoid robot can satisfactorily grasp a brush without system modeling.The proposed method is shown to be robust and effective through a Chinese calligraphy task on a NAO robot.展开更多
基金Supported by the National Natural Science Foundation of China(No.61221003)
文摘A robust visual servoing system is investigated on a humanoid robot which grasps a brush in Chinese calligraphy task.The system is implemented based on uncalibrated visual servoing controller utilizing Kalman-Bucy filter,with the help of an object detector by continuously adaptive MeanShift(CAMShift) algorithm.Under this control scheme,a humanoid robot can satisfactorily grasp a brush without system modeling.The proposed method is shown to be robust and effective through a Chinese calligraphy task on a NAO robot.
