Preprint available (robotics & vision NN)

[Patrick van der Smagt]

The following preprint is now available:


A VISUALLY GUIDED ROBOT AND A NEURAL NETWORK JOIN TO GRASP SLANTED OBJECTS
	P. van der Smagt, A. Dev, and F.C.A. Groen (1995) 
Proceedings of the 1995 Dutch Conference on Neural Networks (in print)


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Abstract:
      In this paper we introduce a method for model-free
      monocular visual guidance of a robot arm. The robot arm, with a single
      camera in its end-effector, should be positioned above a target, with a
      changing pan and tilt, which is placed against a textured background.
      It is shown that a trajectory can be planned in visual space by using
      components of the optic flow, and this trajectory can be translated to
      joint torques by a self-learning neural network. No model of the robot,
      camera, or environment is used. The method reaches a high grasping
      accuracy after only a few trials.