A Direct Approach to Vision Guided Manipulation

摘要

Abstract|This paper describes a method for robotic manipulation that uses direct image-space calculation of optical ow information for continuous real-time control of manipulative actions. State variables derived from optical ow measurements are described. The resulting approach is advantageous since it robusti es the system to changes in optical parameters and also simpli es the implementation needed to succeed in the task execution. Two reference tasks and their corresponding experiments are described: the insertion of a pen into a \\cap " (the capping experiment) and the rotational point-contact pushing of an object of unknown shape, mass and friction to a speci ed goal point in the image-space. I.