HAND–EYE COORDINATION THROUGH ENDPOINT CLOSED-LOOP AND LEARNED ENDPOINT OPEN-LOOP VISUAL SERVO CONTROL
Chris Gaskett, Aleš Ude, Gordon Cheng · International Journal of Humanoid Robotics · 2005
We propose a hand-eye coordination system for a humanoid robot that supports bimanual reaching. The system combines endpoint closed-loop and open-loop visual servo control. The closed-loop component moves the eyes, head, arms, and torso, based on the position of the target and the robot's hands, as seen by the robot's head-mounted cameras. The open-loop component uses a motor-motor mapping that is learnt online to support movement when visual cues are not available.