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Robotic Hand-Eye Coordination: From Observation to Manipulation
Kitakyushu, Japan December 05-December 08
DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/ICHIS.2004.82Fourth International Conference on Hy ...
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Shahram Jafari, Ray Jarvis, "Robotic Hand-Eye Coordination: From Observation to Manipulation," Hybrid Intelligent Systems, International Conference on, pp. 20-25, Fourth International Conference on Hybrid Intelligent Systems (HIS'04), 2004.
 
 
BibTex
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@article{ 10.1109/ICHIS.2004.82,
author = {Shahram Jafari and Ray Jarvis},
title = {Robotic Hand-Eye Coordination: From Observation to Manipulation},
journal ={Hybrid Intelligent Systems, International Conference on},
volume = {0},
year = {2004},
isbn = {0-7695-2291-2},
pages = {20-25},
doi = {http://doi.ieeecomputersociety.org/10.1109/ICHIS.2004.82},
publisher = {IEEE Computer Society},
address = {Los Alamitos, CA, USA},
}
 
 
RefWorks Procite/RefMan/Endnote
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TY - CONF
JO - Hybrid Intelligent Systems, International Conference on
TI - Robotic Hand-Eye Coordination: From Observation to Manipulation
SN - 0-7695-2291-2
SP20
EP25
A1 - Shahram Jafari,
A1 - Ray Jarvis,
PY - 2004
KW - Visual servoing
KW - Eye-to-hand
KW - Eye-in-hand
KW - Genetic Algorithm
KW - K-nearest neighborhood (K-NN)
KW - Adaptive neuro-fuzzy inference system (ANFIS)
VL - 0
JA - Hybrid Intelligent Systems, International Conference on
ER -
 
Shahram Jafari, Monash University, Australia
Ray Jarvis, Monash University, Australia
In this paper, we present a new hybrid method of performing eye-to-hand coordination and manipulation to produce a working robot named COERSU. The method is an optimized combination of two neuro-fuzzy approaches developed by the authors: direct fuzzy servoing and fuzzy correction. The fuzzy methods are tuned by an Adaptive Neuro-Fuzzy Inference System (ANFIS). On the whole, a genetic tuner and two neuro-fuzzy networks contribute to find the final optimum position of the robotic tooltip in order to grasp the target. Experimental results from COERSU in a table-top scenario to manipulate some soft objects (e.g. fruit/egg) also validate the method.
Index Terms:
Visual servoing, Eye-to-hand, Eye-in-hand, Genetic Algorithm, K-nearest neighborhood (K-NN), Adaptive neuro-fuzzy inference system (ANFIS)
Citation:
Shahram Jafari, Ray Jarvis, "Robotic Hand-Eye Coordination: From Observation to Manipulation," his, pp.20-25, Fourth International Conference on Hybrid Intelligent Systems (HIS'04), 2004
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