IEEE - Institute of Electrical and Electronics Engineers, Inc. - Fast peg-and-hole alignment using visual compliance

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013)

Author(s): Shouren Huang ; Kenichi Murakami ; Yuji Yamakawa ; Taku Senoo ; Masatoshi Ishikawa
Sponsor(s): IEEE Ind. Electron. Soc.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 November 2013
Conference Location: Tokyo, Japan
Conference Date: 3 November 2013
Page(s): 286 - 292
ISSN (Paper): 2153-0858
DOI: 10.1109/IROS.2013.6696366
Regular:

This paper presents a visual compliance strategy to deal with the problem of fast peg-and-hole alignment with large position and attitude uncertainty. With the use of visual compliance and... View More

Advertisement