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  Visual Servoing with Exploitation of Redundancy: An Experimental Study

De Luca, A., Ferri, M., Oriolo, G., & Robuffo Giordano, P. (2008). Visual Servoing with Exploitation of Redundancy: An Experimental Study. In 2008 IEEE International Conference on Robotics and Automation (pp. 3231-3237). Piscataway, NJ, USA: IEEE Service Center.

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-0013-C987-D Version Permalink: http://hdl.handle.net/21.11116/0000-0003-7FBB-D
Genre: Conference Paper

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 Creators:
De Luca, A, Author
Ferri, M, Author
Oriolo, G, Author
Robuffo Giordano, P1, Author              
Affiliations:
1External Organizations, ou_persistent22              

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 Abstract: Within the standard IBVS framework for control of generic robotic systems, a suitable exploitation of redundancy w.r.t. the given visual task can significantly improve the overall task execution. Indeed, redundancy can be used to avoid occlusions, joint limits, or to realize tasks that would be ill-conditioned if addressed altogether. In this respect, we propose an experimental evaluation of the performance of two redundancy resolution schemes, namely Task Priority and Task Sequencing, when adopted to realize IBVS tasks on a mobile robot equipped with a pan-tilt camera onboard.

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 Dates: 2008-05
 Publication Status: Published in print
 Pages: -
 Publishing info: -
 Table of Contents: -
 Rev. Method: -
 Identifiers: DOI: 10.1109/ROBOT.2008.4543703
BibTex Citekey: 5560
 Degree: -

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Title: IEEE/RSJ International Conference on Intelligent Robots and Systems (ICRA 2008)
Place of Event: Nice, France
Start-/End Date: 2008-05-19 - 2008-05-23

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Title: 2008 IEEE International Conference on Robotics and Automation
Source Genre: Proceedings
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Publ. Info: Piscataway, NJ, USA : IEEE Service Center
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 3231 - 3237 Identifier: ISBN: 978-1-4244-1647-9