Robust visual servoing based Chinese calligraphy on a humanoid robot |
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Institution: | Department of Automation, Shanghai Jiaotong University, Shanghai 200240 |
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Abstract: | A robust visual servoing system is investigated on a humanoid robot which grasps a brush in Chinese calligraphy task.The system is implemented based on uncalibrated visual servoing controller utilizing Kalman-Bucy filter, with the help of an object detector by continuously adaptive MeanShift ( CAMShift) algorithm.Under this control scheme, a humanoid robot can satisfactorily grasp a brush without system modeling.The proposed method is shown to be robust and effective through a Chinese calligraphy task on a NAO robot. |
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Keywords: | Chinese calligraphy robust visual servoing Kalman-Bucy filter continuously adaptive MeanShift ( CAMShift) algorithm |
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