%A P. van der Smagt
%A F. Groen
%J Neural Systems for Robotics
%T Visual feedback in motion
%X In this chapter we introduce a method for model-free monocular visual guidance of a robot arm. The robot arm, with a single camera in its end effector, should be positioned above a stationary target. It is shown that a trajectory can be planned in visual space by using components of the optic flow, and this trajector can be translated to joint torques by a self-learning neural network. No model of the robot, camera, or environment is used. The method reaches a high grasping accuracy after only a few trials.
%P 37-73
%E O. and Smagt Omidvar
%D 1997
%I Academic Press, Boston, Massachusetts
%L cogprints493

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