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Model-less visual servoing using modified simplex optimization

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Abstract

This article describes a robot positioning task with respect to a static target by visual servoing. The vision system is uncalibrated, and the kinematic model of the robot may be totally unknown. The displacements of the robot at joint level are generated in real time in order to minimize the objective function. The objective function includes the quadratic error between the current and the desired target images. A simplex method is used to minimize the objective function, and a Newton-like method is also used near convergence. We successfully validated this method with simulations under the graphic library OpenGL.

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Author notes

  1. Kanako Miura

    Present address: Research Laboratories, NTT DoCoMo, WS501, 3-5 Hikarino-oka, 239-8536, Yokosuka, Japan

Authors and Affiliations

  1. Graduate School of Information Sciences, Tohoku University, 6-6-01 Aramaki, Aza-Aoba, 980-8579, Sendai, Japan

    Kanako Miura

  2. Graduate School of Information Sciences, Tohoku University, Sendai, Japan

    Koichi Hashimoto & Hikaru Inooka

  3. LSIIT UMR CNRS 7005, Strasbourg I University, Strasbourg, France

    Jacques A. Gangloff & Michel F. de Mathelin

Authors
  1. Kanako Miura
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  2. Koichi Hashimoto
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  3. Hikaru Inooka
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  4. Jacques A. Gangloff
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  5. Michel F. de Mathelin
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Corresponding author

Correspondence to Kanako Miura .

Additional information

This work was presented in part at the 10th International Symposium on Artificial Life and Robotics, Oita, Japan, February 4–6, 2005

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Miura , K., Hashimoto, K., Inooka, H. et al. Model-less visual servoing using modified simplex optimization. Artif Life Robotics 10, 131–135 (2006). https://doi.org/10.1007/s10015-005-0374-4

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  • DOI: https://doi.org/10.1007/s10015-005-0374-4

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