| Ma Zhe （马哲）,Xiang Zhenzhen,Su Jianbo.[J].高技术通讯(英文),2016,22(1):30~37 |
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| Robust visual servoing based Chinese calligraphy on a humanoid robot |
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| DOI：10.3772/j.issn.1006-6748.2016.01.005 |
| 中文关键词: |
| 英文关键词: Chinese calligraphy, robust visual servoing, Kalman-Bucy filter, continuously adaptive MeanShift (CAMShift) algorithm. |
| 基金项目: |
| Author Name | Affiliation | | Ma Zhe （马哲） | | | Xiang Zhenzhen | | | Su Jianbo | |
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| 中文摘要: |
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| 英文摘要: |
| 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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