Robotic Hand-Eye Coordination: From Observation to Manipulation

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	Similar Articles Articles by Shahram Jafari Articles by Ray Jarvis

Fourth International Conference on Hybrid Intelligent Systems (HIS'04)

Kitakyushu, Japan

December 05-December 08

ISBN: 0-7695-2291-2

	ASCII Text	x
	Shahram Jafari, Ray Jarvis, "Robotic Hand-Eye Coordination: From Observation to Manipulation," Hybrid Intelligent Systems, International Conference on, pp. 20-25, Fourth International Conference on Hybrid Intelligent Systems (HIS'04), 2004.

	BibTex	x
	@article{ 10.1109/ICHIS.2004.82, author = {Shahram Jafari and Ray Jarvis}, title = {Robotic Hand-Eye Coordination: From Observation to Manipulation}, journal ={Hybrid Intelligent Systems, International Conference on}, volume = {0}, year = {2004}, isbn = {0-7695-2291-2}, pages = {20-25}, doi = {http://doi.ieeecomputersociety.org/10.1109/ICHIS.2004.82}, publisher = {IEEE Computer Society}, address = {Los Alamitos, CA, USA}, }

	RefWorks Procite/RefMan/Endnote	x
	TY - CONF JO - Hybrid Intelligent Systems, International Conference on TI - Robotic Hand-Eye Coordination: From Observation to Manipulation SN - 0-7695-2291-2 SP20 EP25 A1 - Shahram Jafari, A1 - Ray Jarvis, PY - 2004 KW - Visual servoing KW - Eye-to-hand KW - Eye-in-hand KW - Genetic Algorithm KW - K-nearest neighborhood (K-NN) KW - Adaptive neuro-fuzzy inference system (ANFIS) VL - 0 JA - Hybrid Intelligent Systems, International Conference on ER -

Shahram Jafari, Monash University, Australia

Ray Jarvis, Monash University, Australia

DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/ICHIS.2004.82

In this paper, we present a new hybrid method of performing eye-to-hand coordination and manipulation to produce a working robot named COERSU. The method is an optimized combination of two neuro-fuzzy approaches developed by the authors: direct fuzzy servoing and fuzzy correction. The fuzzy methods are tuned by an Adaptive Neuro-Fuzzy Inference System (ANFIS). On the whole, a genetic tuner and two neuro-fuzzy networks contribute to find the final optimum position of the robotic tooltip in order to grasp the target. Experimental results from COERSU in a table-top scenario to manipulate some soft objects (e.g. fruit/egg) also validate the method.

Index Terms:

Visual servoing, Eye-to-hand, Eye-in-hand, Genetic Algorithm, K-nearest neighborhood (K-NN), Adaptive neuro-fuzzy inference system (ANFIS)

Citation:

Shahram Jafari, Ray Jarvis, "Robotic Hand-Eye Coordination: From Observation to Manipulation," his, pp.20-25, Fourth International Conference on Hybrid Intelligent Systems (HIS'04), 2004

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