Control of the Final-Phase of Closed-Loop Visual Grasping using Image-Based Visual Servoing

Understand

This paper considers the final approach phase of visual-closed-loop grasping where the RGB-D camera is no longer able to provide valid depth information.

• Many current robotic grasping controllers are not closed-loop and therefore fail for moving objects.
• Closed-loop grasp controllers based on RGB-D imagery can track a moving object, but fail when the sensor's minimum object distance is violated just before grasping.
• To overcome this we propose the use of image-based visual servoing (IBVS) to guide the robot to the object-relative grasp pose using camera RGB information.