RA-L 201760 citations
Visual Servoing in an Optimization Framework for the Whole-Body Control of Humanoid Robots
Don Joven Agravante, Giovanni Claudio, Fabien Spindler, François Chaumette
Abstract
In this paper, we show that visual servoing can be formulated as an acceleration-resolved, quadratic optimization problem. This allows us to handle visual constraints, such as field of view and occlusion avoidance, as inequalities. Furthermore, it allows us to easily integrate visual servoing tasks into existing whole-body control frameworks for humanoid robots, which simplifies prioritization and requires only a posture task as a regularization term. Finally, we show this method working on simulations with HRP-4 and real tests on Romeo.
BibTeX
@inproceedings{ral2017_visualservoingin,
title = {Visual Servoing in an Optimization Framework for the Whole-Body Control of Humanoid Robots},
author = {Don Joven Agravante and Giovanni Claudio and Fabien Spindler and François Chaumette},
booktitle = {RA-L 2017},
year = {2017}
}