Akira Yanou    Department   Kawasaki University of Medical Welfare  ,    Position   Professor
Language	English
Title	Visual Servoing Frequency Response of Eye-vergence System in Lateral Motion with Evolutionary Pose Tracking of 3D-Object
Conference	21st International Symposium on Artificial Life and Robotics
Conference Type	International society and overseas society
Presentation Type	Speech
Lecture Type	General
Publisher and common publisher	◎Hongzhi Tian, Yu Cui, Mamoru Minami, and Akira Yanou
Date	2016/01
Venue (city and name of the country)	Beppu, Japan
Summary	Visual servoing towards moving target with hand-eye cameras fixed at the hand is inevitably affected by hand dynamical oscillations, therefore it's difficult to make target position always at the center of camera's view, because nonlinear dynamical effects of whole manipulator stand against tracking ability. To overcome the defects of the fixed-hand-eye system, in hand-eye-vergence system left and right cameras' directions could be rotated to observe and keep the target object to be seen at the center of camera images, reducing the influences of aberration of cameras lens. The dynamical superiorities of eye-vergence system are verified through frequency response experiments. In theory compared with fixed-hand-eye system the proposed eye-vergence system can track objects more promptly and stably. However there is a lack of understanding of the practical application status of the proposed system. Previous research has been stuck in research and improving about position tracking performance of the system. This paper, for the first time, analyzes the performance of 3D-object orientation tracking. The utilized orientation recognition method using quaternion is introduced and the orientation tracking results are shown for a more comprehensive analysis of system performance.