2022
Hybrid Eye-in-Hand/Eye-to-Hand Image Based Visual Servoing for Soft Continuum Arms
RA-L 2022
Soft continuum arms (SCAs) that are controlled by visual servoing (VS) present trade-offs between the camera range and tracking accuracy. Cameras placed at a distance (eye-to-hand) can observe a larger workspace area and the SCA tip, while a camera at the end effector (eye-in-hand) can more accurate