Hybrid visual servoing design for a continuum robot under visibility constraint and voice commands

Chien Yu Wu, Kai-Tai Song

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

This paper presents a method to combine voice control and hybrid visual servoing for a continuum robot. In this design, the continuum robot autonomously tracks the element of interest and maintains its position in the safe region based on image information. A method of hybrid visual servoing is proposed to integrate 2D image-based visual servoing (IBVS) to ensure the elements of interests under visibility constraints and 3D position-based visual servoing (PBVS) to adjust the robot to a desired pose in the constraint region. The robotic camera thus provides stable image while tracking the element of interest. In this design, the user can move the continuum robot to acquire the desired view by voice commands. In voice control, the system can recognize connecting words to control the robot. All software modules are integrated using Robot Operating System (ROS) for controlling the continuum robot. Experimental results obtained from a prototype continuum robot verify the effectiveness of the proposed method.

Original languageEnglish
Title of host publicationICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings
PublisherIEEE Computer Society
Pages1255-1260
Number of pages6
ISBN (Electronic)9788993215120
DOIs
StatePublished - 24 Jan 2016
Event16th International Conference on Control, Automation and Systems, ICCAS 2016 - Gyeongju, Korea, Republic of
Duration: 16 Oct 201619 Oct 2016

Publication series

NameInternational Conference on Control, Automation and Systems
Volume0
ISSN (Print)1598-7833

Conference

Conference16th International Conference on Control, Automation and Systems, ICCAS 2016
CountryKorea, Republic of
CityGyeongju
Period16/10/1619/10/16

Keywords

  • Continuum robot
  • Visual servoing
  • Voice control

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  • Cite this

    Wu, C. Y., & Song, K-T. (2016). Hybrid visual servoing design for a continuum robot under visibility constraint and voice commands. In ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings (pp. 1255-1260). [7832473] (International Conference on Control, Automation and Systems; Vol. 0). IEEE Computer Society. https://doi.org/10.1109/ICCAS.2016.7832473