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Proceedings Paper

Situation-oriented behavior-based stereo vision to gain robustness and adaptation in the manipulator control
Author(s): Minh-Chinh Nguyen
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Paper Abstract

A new concept for visually guided manipulator control is introduced. It eliminates the need for a calibration of the manipulator as well as of the vision system and comprises an automatic adaptation to changing parameters. A key point of the concept is the achievement of a complex and elaborate desired goal by activating an appropriate sequence of rather simple elementary behaviors. Contrary to conventual stereo vision methods it uses a calibration-free camera system and allows a direct transition from image coordinates to motion control commands of a robot. By this approach, the abstract coordinate transformations have been avoided, instead, image data are used directly to control the behavior of the root, or the interactions of the robot with physical objects. Thus, it makes knowledge of many hard-to-measure optical and mechanical system unnecessary; moreover, it lends itself to the realization of learning and adaptive robots. The concept has been successfully realized and tested in real-world experiments with a visually guided calibration-free 5 degree of freedom manipulator invovling the grasping of various objects with nearly any shape in arbitrary position in the robot 3D work space.

Paper Details

Date Published: 26 August 1999
PDF: 8 pages
Proc. SPIE 3837, Intelligent Robots and Computer Vision XVIII: Algorithms, Techniques, and Active Vision, (26 August 1999); doi: 10.1117/12.360287
Show Author Affiliations
Minh-Chinh Nguyen, Univ. Muenchen (Germany)


Published in SPIE Proceedings Vol. 3837:
Intelligent Robots and Computer Vision XVIII: Algorithms, Techniques, and Active Vision
David P. Casasent, Editor(s)

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