The projects defines implementation of visual servoing for object grasping. Visual servoing, also known as vision-based robot control, is a technique which uses feedback information extracted from a vision sensor (visual feedback) to control the motion of a robot. The proposed approach targets application domains from household to outer space.

Objectives.

• Implement an efficient visual servoing algorithm on Franka Panda robot/Baxter robot and demonstrate successful object grasping.
• Comparison with other object grasping algorithms.
• How to consider robot uncertainties (Eg. Robot Sensor noise) into visual servoing methodology.
• Implement and demonstrate moving object capture (If time permits)

Outcome:

• In depth Understanding of Robot operating system (ROS).
• Knowledge of Robot kinematics and Dynamics.
• Vision Based control of Robots.
• Hands on experience with Franka panda and Baxter Robots.

Requirements:

• Good Programming skill Python/C++
• Good Mathematical Background
• Understanding of basic Image processing.

Contact:

Dr Mithun Poozhiyil

email: mpoozhiyil@lincoln.ac.uk