Autonomous Microrobotic Manipulation Using Visual Servo Control

Preliminary experiments in visual servo control for autonomous underwater vehicle

We are developing a visually-guided autonomous underwater vehicle. We have achieved a position-based visual servo control of fixed and slow moving targets using visual position feedback and sensor-based orientation feedback. The visual position feedback has been implemented on a stereo camera system. We use a compass and an inclinometer for orientation feedback. We have also implemented a compu...

Application of Visual Servo Control in Autonomous Mobile Rescue Robots

Abstract: Mobile robots that integrate visual servo control for facilitating autonomous grasping and manipulation are the focus of this paper. In view of mobility, they have wider application than traditional fixed-based robots with visual servoing. Visual servoing is widely used in mobile robot navigation. However, there are not so many report for applying it to mobile manipulation. In this pa...

Development of Autonomous Underwater Vehicle towards Visual Servo Control

We are developing a visually-guided autonomous underwater vehicle. We have implemented a computed torque controller, using Euler parameters, for position and velocity control. This formulation eliminates singularity in the model and controller and offers some degrees of coupling between vehicle degrees of freedom. A calibrated thruster model which computes thrust output from measured voltage an...

Adaptive Visual Servo Control

Contact Detection in Microrobotic Manipulation

This paper presents a computer vision-based method for visually detecting the contact between an end-effector and a target surface under an optical microscope during microrobotic manipulation. Without using proximity or force/touch sensors, this method provides a submicrometer detection accuracy and possesses robustness. Fundamentally, after the establishment of contact in the world frame, furt...