Experiments in Hand-Eye Coordination Using Active Vision
Experiments in Hand-Eye Coordination Using Active Vision,
W. Hong and J.J.E. Slotine, Proceedings of the Fourth International
Symposium on Experimental Robotics, ISER'95, Stanford, California,
June 30-July 2, 1995.
Sequence of the WAM Catching, requires a Netscape browser - uses
Robot hand-eye coordination has recently enjoyed much attention.
Previous research at MIT has examined combining vision and
manipulation applied to the task of tracking and catching tossed balls
in controlled environments. Building upon the foundations of this
past research, this paper presents work which incorporates a new
active vision system which requires a minimally controlled
environment, and implements methods for object tracking, robot/camera
calibration, and new catching algorithms. Experimental results for
real time catching of free-flying spherical balls are presented. The
system was tested on under-hand tosses from random locations
approximately 1.5-2.5 meters distant from the base of the arm. The
best performance results were found to be 70-80% success for similar
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