Base on research of un-calibrated visual servo in crawling object with dexterous hand
Ke Xiao, Ouyang Ge · 2011
This paper describes an un-calibrated control method for dexterous hand crawl an object with eye-in-hand camera. This method is based on boundary tracking method for object contours. This method does not compute moore-Penrose inverse of image Jacobian, avoiding the image the singularity of image Jacobian.