Empirical validation of a new visual servoing strategy

Noah J. Cowan; Joel D. Weingarten; Daniel E. Koditschek

Empirical validation of a new visual servoing strategy

Noah J. Cowan
, Joel D. Weingarten
, Daniel E. Koditschek

Research output: Contribution to conference › Paper › peer-review

Abstract

The flexibility of computer vision is attractive when designing manipulation systems which must interact with otherwise unsensed objects. However, occlusions introduce significant challenges to the construction of practical vision-based control systems. This paper provides empirical validation of a vision based control strategy that affords guaranteed convergence to a visible goal from essentially any "safe" initial position while maintaining full view of all the feature points along the way. The method applies to first (quasi-static, or "kinematic") and second (Lagrangian or "mechanical") order plants that incorporate an independent actuator for each degree of freedom.

Original language	English (US)
Pages	1117-1123
Number of pages	7
State	Published - 2001
Externally published	Yes
Event	Proceedings of the 2001 IEEE International Conference on Control Applications CCA '01 - Mexico City, Mexico Duration: Sep 5 2001 → Sep 7 2001

Conference

Conference	Proceedings of the 2001 IEEE International Conference on Control Applications CCA '01
Country/Territory	Mexico
City	Mexico City
Period	9/5/01 → 9/7/01

ASJC Scopus subject areas

Control and Systems Engineering

Cite this

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title = "Empirical validation of a new visual servoing strategy",

abstract = "The flexibility of computer vision is attractive when designing manipulation systems which must interact with otherwise unsensed objects. However, occlusions introduce significant challenges to the construction of practical vision-based control systems. This paper provides empirical validation of a vision based control strategy that affords guaranteed convergence to a visible goal from essentially any {"}safe{"} initial position while maintaining full view of all the feature points along the way. The method applies to first (quasi-static, or {"}kinematic{"}) and second (Lagrangian or {"}mechanical{"}) order plants that incorporate an independent actuator for each degree of freedom.",

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AU - Weingarten, Joel D.

AU - Koditschek, Daniel E.

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AB - The flexibility of computer vision is attractive when designing manipulation systems which must interact with otherwise unsensed objects. However, occlusions introduce significant challenges to the construction of practical vision-based control systems. This paper provides empirical validation of a vision based control strategy that affords guaranteed convergence to a visible goal from essentially any "safe" initial position while maintaining full view of all the feature points along the way. The method applies to first (quasi-static, or "kinematic") and second (Lagrangian or "mechanical") order plants that incorporate an independent actuator for each degree of freedom.

UR - https://www.scopus.com/pages/publications/0035695202

UR - https://www.scopus.com/pages/publications/0035695202#tab=citedBy

M3 - Paper

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T2 - Proceedings of the 2001 IEEE International Conference on Control Applications CCA '01

Y2 - 5 September 2001 through 7 September 2001

ER -

Empirical validation of a new visual servoing strategy

Abstract

Conference

ASJC Scopus subject areas

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