K. Yamaguchi, K. Namba, and N. Maru (Japan)
Humanoid Robot, Linear Visual Servoing, Reaching Control, Open Loop Control
This paper proposes a reaching control method of the 3 d.o.f arm of the humanoid robot by linear visual servoing. Linear visual servoing is based on the linear approximation between binocular visual space and joint space of the arm of the humanoid robot which has a similar kinematic structure as a human being. It is very robust to calibration error, especially to camera angle errors and joint angle errors, because it uses neither camera angles not joint angles to calculate feed-back command. Although we showed that 3D linear visual servoing is effective in reaching control of the 3 d.o.f. arm of the humanoid robot, the reaching speed is slow because of image sampling time. Furthermore, visual servoing is effective when both the end tip of the arm and the target is in an image. In this paper, we propose a fast and accurate reaching control method of the humanoid robot by combining slow but accurate linear visual servoing and inaccurate but fast open loop control. Some experimental results are presented to demonstrate the effectiveness of the proposed method.
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