Abstract
This article presents a contribution to the visual tracking of objects using all of the degrees of freedom of an Aibo ERS-7 robot. Our approach follows the principled methodology of visual servoing system design. State of the art visual tracking solutions for this kind of robots inspired in the visual servoing approach either are restricted to control of the head effectors or use a learned kinematics matrix. In our work we take into account all the effectors which can affect the robot camera extrinsic parameters. We construct the matrix that specifies the robot kinematics from the robot mechanical description. Visual servoing is performed computing the pseudoinverse of this matrix.
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© 2007 Springer-Verlag Berlin Heidelberg
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Echegoyen, Z., d’Anjou, A., Graña, M. (2007). Contribution to Legged Robot Visual Servoing. In: Apolloni, B., Howlett, R.J., Jain, L. (eds) Knowledge-Based Intelligent Information and Engineering Systems. KES 2007. Lecture Notes in Computer Science(), vol 4693. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-74827-4_147
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DOI: https://doi.org/10.1007/978-3-540-74827-4_147
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-74826-7
Online ISBN: 978-3-540-74827-4
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