Hybrid Eye-in-Hand/Eye-to-Hand Image Based Visual Servoing for Soft Continuum Arms
Hybrid Eye-in-Hand/Eye-to-Hand Image Based Visual Servoing for Soft Continuum Arms
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DOI：
10.1109/lra.2022.3194690
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发表时间：
2022-10
影响因子：
5.2
通讯作者：
Ali A. AlBeladi;E. Ripperger;Seth Hutchinson;Girish Krishnan
中科院分区：
文献类型：
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作者：
Ali A. AlBeladi;E. Ripperger;Seth Hutchinson;Girish Krishnan
软连续臂（SCAs）是由视觉伺服（VS）控制的相机范围和跟踪精度之间的权衡。放置在一定距离（眼对手）的相机可以观察到更大的工作区域和SCA尖端，而末端执行器（眼对手）的相机可以更准确地调查目标。在这封信中，我们提出了一个眼对手和眼对手的混合VS方案来跟踪SCA工作空间中的期望对象。当目标不在尖端摄像机的视场范围内时，利用软机器人基座上的宽视场摄像机实现手对眼VS，将软机器人的尖端伺服到尖端摄像机期望看到目标的可行区域。该区域是通过求解一个优化问题来估计的，该优化问题假定SCA具有恒定曲率模型，并找到放置SCA的最佳区域。当目标被尖端摄像机看到时，系统切换到手眼控制器，使目标保持在尖端摄像机所需的图像位置。在流行的$BR^{2}$ SCA上的实验结果证明了混合VS方案在包含外部干扰的实际设置下的有效性。
Soft continuum arms (SCAs) that are controlled by visual servoing (VS) present trade-offs between the camera range and tracking accuracy. Cameras placed at a distance (eye-to-hand) can observe a larger workspace area and the SCA tip, while a camera at the end effector (eye-in-hand) can more accurately survey the target. In this letter, we present a hybrid eye-to-hand and eye-in-hand VS scheme to track a desired object in the SCA's worksapce. When the target is not in the field-of-view of the tip camera, hand-to-eye VS is implemented using a wide field-of-view camera on the soft robot's base, to servo the soft robot's tip to a feasible region where the target is expected to be seen by the tip camera. This region is estimated by solving an optimization problem that finds the best region to place the SCA assuming a constant curvature model for the SCA. When the target is seen by the tip camera, the system switches to a hand-in-eye controller that keeps the target in the desired image position of the tip camera. Experimental results on the popular $BR^{2}$ SCA demonstrates the effectiveness of the hybrid VS scheme under practical settings that include external disturbances.