Keypoints-Based Adaptive Visual Servoing for Control of Robotic Manipulators in Configuration Space
Sreejani Chatterjee,Abhay C. Karade,Abhinav Gandhi,Berk Calli,Sreejani Chatterjee,Abhay C. Karade,Abhinav Gandhi,Berk Calli
This paper presents a visual servoing method for controlling a robot in the configuration space by purely using its natural features. We first created a data collection pipeline that uses camera intrinsics, extrinsics, and forward kinematics to generate 2D projections of a robot's joint locations (keypoints) in image space. Using this pipeline, we are able to collect large sets of real-robot data,...
