Vision based robotic grasping with a hybrid camera configuration

摘要

Vision based robotic grasping systems have significant applications in the areas of space exploration and service robots. In this paper, an image based visual servoing controller with a hybrid camera configuration is proposed. In particular, an eye-in-hand camera is employed to track the position of the target object while a stereo camera is utilized to obtain the depth information of the object. A physical vision-based mobile manipulation system is developed to validate the proposed approach. The experimental results show that the proposed controller is effective to help a robot grasp the target object autonomously.