Titlebook: Visual Servoing via Advanced Numerical Methods; Graziano Chesi,Koichi Hashimoto Book 2010 Springer-Verlag London 2010 Visual Servoing.auto

坦白

High-speed Visual Feedback Control for Grasping and Manipulationed for a batting task. In the method, the manipulator trajectory defined as a polynomial function of time is modified by visual information directly. Next, a visual servoing control with a passive joint problem is proposed for tool manipulation. Experimental results are shown.

linear

tic-douloureux

Sciatica

Catadioptric Stereo with Planar Mirrors: Multiple-view Geometry and Camera Localizationeasing attention in computer vision and have a promising applicability in robotics, since the use of mirrors allows to obtain a stereo view without the need of exact multi-camera synchronization and stereo calibration. The chapter presents a rigorous analytical treatment of the imaging geometry of P

Chameleon

Empirical Characterization of Convergence Properties for Kernel-based Visual Servoingendent of the underlying controller. Kernel-based visual servoing (KBVS) is a categorically different approach that eliminates explicit feature tracking. This chapter presents an experimental assessment of the convergence properties (domain of attraction and steady-state error) of the proposed appro

参考书目

High-speed Visual Feedback Control for Grasping and Manipulationnly sensing but also processing is achieved at high-speed, and it improves the performance of visual servoing. In this chapter, we described some examples of visual feedback control methods in our high-speed manipulation system. First, a hybrid trajectory generator using visual information is propos

圆锥

Human-machine Cooperative Manipulation with Vision-based Motion Constraintstraints are often referred to as virtual fixtures. It is shown that algorithms originally designed for vision-based control of manipulators can be easily converted into control algorithms that provide virtual fixtures. As a result it is possible to create advanced human-machine cooperative manipulat

傻

Luminance: A New Visual Feature for Visual Servoingc visual features are usually used, we directly here consider the luminance of all pixels in the image. We call this new visual servoing scheme .. The main advantage of this new approach is that it greatly simplifies the image processing required to track geometric visual features all along the came

Bravado

Visual Servoing for Beating Heart Surgeryession of the heart excursion have demonstrated significant residual motion, which could lead to a lack of accuracy in the surgical task, particularly in a minimally invasive surgery (MIS) context. Robots can help the surgeon by actively compensating for the heart motion using visual servoing. Vario

Habituate

A Variational Approach to Trajectory Planning in Visual Servoing large, these trajectories are not physically valid leading to the failure of the servoing process. In this chapter, we address the problem of generating trajectories of some image features that corresponds to optimal 3D trajectories in order to control efficiently a robotic system using an image-ba