Stereo Image-based Visual Servoing Towards Feature-based Grasping
Albert Enyedy,Ashay Aswale,Berk Calli,Michael Gennert,Albert Enyedy,Ashay Aswale,Berk Calli,Michael Gennert
This paper presents an image-based visual servoing scheme that can control robotic manipulators in 3D space using 2D stereo images without needing to perform stereo reconstruction. We use a stereo camera in an eye-to-hand configuration for controlling the robot to reach target positions by directly mapping image space errors to joint space actuation. We achieve convergence without a-priori knowled...
