Loading…

Eye-in-Hand Visual Servoing Enhanced With Sparse Strain Measurement for Soft Continuum Robots

In the feature/object tracking of eye-in-hand visual servoing, 2D motion estimation relying only on image plane feedback is easily affected by vision occlusion, blurring, or poor lighting. For the commonly-used template matching method, tracking performance greatly depends on the image quality. Fibe...

Full description

Saved in:
Bibliographic Details
Published in:IEEE robotics and automation letters 2020-04, Vol.5 (2), p.2160-2167
Main Authors: Wang, Xiaomei, Fang, Ge, Wang, Kui, Xie, Xiaochen, Lee, Kit-Hang, Ho, Justin D. L., Tang, Wai Lun, Lam, James, Kwok, Ka-Wai
Format: Article
Language:English
Subjects:
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:In the feature/object tracking of eye-in-hand visual servoing, 2D motion estimation relying only on image plane feedback is easily affected by vision occlusion, blurring, or poor lighting. For the commonly-used template matching method, tracking performance greatly depends on the image quality. Fiber Bragg gratings (FBGs), a type of high-frequency flexible strain sensor, can be used as an assistant device for soft robot control. We propose a method to enhance motion estimation in soft robotic visual servoing by fusing the results from template matching and FBG wavelength shifts to achieve more accurate tracking in applications such as minimally invasive surgery. Path following performance is validated in a simulated laparoscopic scene and LEGO-constructed scene, demonstrating significant improvement to feature tracking and robot motion, even under external forces.
ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2020.2969953