TY - JOUR
T1 - Model-less visual servoing using modified simplex optimization
AU - Miura, Kanako
AU - Hashimoto, Koichi
AU - Inooka, Hikaru
AU - Gangloff, Jacques A.
AU - de Mathelin, Michel F.
PY - 2006/11
Y1 - 2006/11
N2 - 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.
AB - 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.
KW - Model-lessvisual servoing
KW - Optimization
KW - Uncalibrated visual servoing
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U2 - 10.1007/s10015-005-0374-4
DO - 10.1007/s10015-005-0374-4
M3 - Article
AN - SCOPUS:33750739800
SN - 1433-5298
VL - 10
SP - 131
EP - 135
JO - Artificial Life and Robotics
JF - Artificial Life and Robotics
IS - 2
ER -