Simultaneously learning to recognize and control a low-cost robotic arm

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摘要

In this paper, we present a visual servoing method based on a learned mapping between feature space and control space. Using a suitable recognition algorithm, we present and evaluate a complete method that simultaneously learns the appearance and control of a low-cost robotic arm. The recognition part is trained using an action precedes perception approach. The novelty of this paper, apart from the visual servoing method per se, is the combination of visual servoing with gripper recognition. We show that we can achieve high precision positioning without knowing in advance what the robotic arm looks like or how it is controlled.

论文关键词:Visual servoing,LWPR,Gripper recognition,Jacobian estimation

论文评审过程:Received 25 February 2008, Revised 25 January 2009, Accepted 8 April 2009, Available online 22 April 2009.

论文官网地址:https://doi.org/10.1016/j.imavis.2009.04.003