This paper presents a global diffeomorphism from a suitably defined “visible set” of rigid body configurations — a subset of SE(3) — to an imagespace. The mapping between the visible set and the image-space is given by the projection of a set of features of a specially designed visual target. The target is a sphere marked with a feature point and a vector tangent to the sphere at the feature po...

For service robots operating in domestic environments it is not enough to consider only control level robustness it is equally important to consider how image information that serves as input to the control process can be used so as to achieve robust and efficient control. This paper presents an effort towards development of robust visual techniques used to guide robots in various tasks. Given ...

Traditional visual servoing systems have been widely studied in the last years. These systems control the position of the camera attached to the robot end-effector guiding it from any position to the desired one. These controllers can be improved by using the event-based control paradigm. The system proposed in this paper is based on the idea of activating the visual controller only when someth...

In the eld of visual control of robot motion, visual servoing has been proposed as the suitable control strategy to cope with imprecise models and calibration errors. Remaining problems such as the necessity of a high rate of visual feedback are deemed to be solvable by the development of real-time vision modules. However, human grasping, which still outshines its robotic counterparts especiall...

A general framework for visual servoing tasks is proposed. The objective of the paper is twofold: a) how a complicated servoing task might be composed from a multitude of simple ones, and b) how the integration of basic and simple visual algorithms can be used in order to provide a robust input estimate to a control loop for a mobile platform or a robot manipulator. For that purpose, voting sch...

This paper reports on a visual servoing system capable of 2DOF nanopositioning using a novel multi-axis electrostatic MEMS (MicroElectroMechanical System) device. The high aspect ratio micromanipulator was fabricated using a high yield process with Deep Reactive Ion Etching (DRIE) on Silicon-On-Insulator (SOI) wafers, which produces larger electrostatic forces and requires lower actuation volta...

Visual servoing is a process to enable a robot to position a camera with respect to known landmarks using the visual data obtained by the camera itself to guide camera motion. A solution is described which requires very little a priori information freeing it from being speciic to a particular connguration of robot and camera. The solution is based on closed loop control together with deliberate...

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