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Title: A Monocular Robot Arm can be Neurally Positioned Proceedings of the 1995 International Conference on Intelligent Autonomous Systems
Written by: Smagt P van der, Groen F, Kr{\"o}se B
in: 1995
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on pages: 123--130
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Editor: U. Rembold and R. Dillmann and L. O. Hertzberger and T. Kanade
Publisher: IOS Press
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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 visually observed target. 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.