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Conference Paper

Visual Servoing with Exploitation of Redundancy: An Experimental Study

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http://pubman.mpdl.mpg.de/cone/persons/resource/persons84174

Robuffo Giordano,  P
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Citation

De Luca, A., Ferri M, Oriolo, G., & Robuffo Giordano, P. (2008). Visual Servoing with Exploitation of Redundancy: An Experimental Study. Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008), 3231-3237.


Cite as: http://hdl.handle.net/11858/00-001M-0000-0013-C987-D
Abstract
Within the standard IBVS framework for control of generic robotic systems, a suitable exploitation of redundancy w.r.t. the given visual task can significantly improve the overall task execution. Indeed, redundancy can be used to avoid occlusions, joint limits, or to realize tasks that would be ill-conditioned if addressed altogether. In this respect, we propose an experimental evaluation of the performance of two redundancy resolution schemes, namely Task Priority and Task Sequencing, when adopted to realize IBVS tasks on a mobile robot equipped with a pan-tilt camera onboard.