Integrated Vision/Force Robotic Servoing in the Task Frame Formalism

Shared control in hybrid vision/force robotic servoing using the task frame

Hybrid position/force control can be extended to incorporate visual servoing. Together with the Task Frame Formalism (TFF), it forms the basis to easily model, implement and execute robotic tasks in an uncalibrated workspace, using traded, hybrid or shared vision/force control. This paper emphasizes shared control in which both vision and force simultaneously control a given task frame directio...

Visually aided force control with fuzzy parameter tuning

Vision and force sensors provide rich information which can enable robots to execute complex tasks. However, the integration of these two different types of sensors is not a trivial task. This paper provides a novel technique for the integration of vision and force information. Visual servoing and explicit force control techniques are applied in the task frame formalism. Disadvantages of the co...

Integrated Visual Servoing and Force Control - The Task Frame Approach

Robotic execution of everyday tasks by means of external vision/force control

In this article, we present an integrated manipulation framework for a service robot, that allows to interact with articulated objects at home environments through the coupling of vision and force modalities. We consider a robot which is observing simultaneously his hand and the object to manipulate, by using an external camera (i.e. robot head). Task-oriented grasping algorithms [1] are used i...

Fusing Force and Vision Feedback for Micromanipulation

In this paper we present experimental results that investigate the integration of two disparate sensing modalities, force and vision, for sensor-based microassembly. By integrating these sensing modes, we are able to provide feedback in a task-oriented frame of reference over a broad range of motion with an extremely high precision. An optical microscope is used to provide visual feedback down ...