Session 11: Vision

机译：专场11：愿景

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This session groups together five robotics papers where the use of computer vision was a key aspect of the otherwise-diverse research. These papers reflect an ongoing trend toward the increased use of vision in robotics as a whole and, in fact, vision also was an important constituent in several other papers in other sessions at this meeting. The first paper "Closed-Form Differential Kinematics for Concentric Tube Continuum Robots with Application to Visual Servoing" by Webster, Swensen, Romano and Cowan deals with medical robotics. The paper looks at the development of a cannula, that is a narrow extensible tube, that can be manipulated and reconfigured. The cannula in this context is regarded as a long flexible robot constructed from multiple tubes and links. The key emphasis of the paper was the modeling of the differential kinematics of this robot and applying this to visual servoing. This leads to a novel model of the endpoint of the cannula based on the differential geometry, in particular the curvature, and the configuration of the tubes that compose it. This was validated by observing its performance on visual servoing tasks.

机译：本次会议将五篇机器人学论文归为一类，其中使用计算机视觉是其他方面研究的关键方面。这些论文反映了在整个机器人技术中越来越多地使用视觉的趋势，事实上，视觉也是本次会议其他会议上其他几篇论文的重要组成部分。 Webster，Swensen，Romano和Cowan的第一篇论文“同心管连续体机器人的闭式微分运动学及其在视觉伺服中的应用”涉及医疗机器人技术。本文着眼于插管的发展，插管是一种狭窄的可延伸管，可以对其进行操作和重新配置。在这种情况下，插管被认为是由多个管和连杆构成的长而灵活的机器人。本文的重点是对该机器人的差分运动学进行建模并将其应用于视觉伺服。这导致了基于微分几何形状，特别是曲率和组成插管的管的构造的插管端点的新颖模型。通过观察其在视觉伺服任务上的性能来验证这一点。

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来源
《International symposium on experimental robotics;ISER'11; 20080713-16;20080713-16; Athens(GR);Athens(GR)》|2008年|P.483-484|共2页
会议地点 Athens(GR);Athens(GR)
作者
Greg Dudek;
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McGill University;

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原文格式 PDF
正文语种 eng
中图分类机器人技术;
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Session 11: Vision

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