Skeleton-based Adaptive Visual Servoing for Control of Robotic Manipulators in Configuration Space
Abhinav Gandhi,Sreejani Chatterjee,Berk Calli,Abhinav Gandhi,Sreejani Chatterjee,Berk Calli
This paper presents a novel visual servoing method that controls a robotic manipulator in the configuration space as opposed to the classical vision-based control methods solely focusing on the end effector pose. We first extract the robot's shape from depth images using a skeletonization algorithm and represent it using parametric curves. We then adopt an adaptive visual servoing scheme that esti...
