Direct Visual Servoing (DVS) considers pixel brightness directly as input of robot control. Recent DVS variants consider image processing smoothing or frequency domain transforms, resulting in large convergence domains. This letter proposes to defocus optically smooth images without processing. The Defocus-based shows domains competing with the state-of-the-art, larger some challenging cases, f...

This paper describes an adaptive hybrid visual servoing/force controller to realize visual servoing while the manipulator exerts contract force on a surface. The proposed controller has a hybrid structure of visual servoing control and force control. Because it has an on-line estimator for the parameters of the cameramanipulator system and the one for the parameters of the unknown constraint su...

This paper presents a simple robot localization technique using the wireless visual servoing technique involved in an autonomous ground vehicle ODIS (omnidirectional inspection system) for under-car inspection tasks in standard parking lot environment. Based on the current architecture of ODIS and the dedicated scripting language, an iterative visual servoing scheme is proposed to align the yel...

This paper presents an image-based visual servoing for controlling the position and orientation of an unmanned aerial vehicle (UAV) using a fixed downward camera observing landmarks on the level ground. In the proposed method, the visual servoing of the image moments is used to control the vertical motion and rotation around the roll axis. In contrast, an undesired positive feedback arises in v...

In this paper we present a model free hybrid visual servoing system. The “model free” term refers to the system with the unknown kinematics model that has to be estimated on-line, while “hybrid” specifies the visual controller architecture. The proposed system has a conventional Jacobian estimation part necessary for control output generation and it is supplemented with an additional adaptive n...

In this paper we present a visual servoing method based on a learned mapping between feature space and control space. Using a suitable recognition algorithm, we present and evaluate a complete method that simultaneously learns the appearance and control of a low cost robotic arm. The recognition part is trained using an action precedes perception approach. The novelty of this paper, apart from ...

The objective of this paper is to develop a new appearance based visual servoing method that needs no prior structuring of the environment and also eliminates the correspondence problem associated with conventional visual servoing methods. Detailed description of object appearance and its generation are provided in this paper. In addition, owing to the non-linear and high dimensional nature of ...

This paper addresses the visual servoing problem of a robot–pendulum in fixed–camera configuration. We present two new visual position controllers supported by a rigorous analysis of local asymptotic stability in agreement with the Lyapunov’s direct method and the LaSalle’s invariance principle. The proposed controllers belong to the family of Transpose Jacobian-based schemes. We also present t...

In this paper, we compare four methods to perform eye-to-hand visual servoing using primitive tactile information. They are relative visual servoing, direct fuzzy servoing, fuzzy correction, and interpolation. These methods just need a monocular eye-to-hand camera and primitive tactile sensors. The fuzzy methods are tuned [1] by an Adaptive Neuro-Fuzzy Inference System (ANFIS). The set-up is pa...

To solve the view visibility problem and keep the observed object in the field of view (FOV) during the visual servoing, a depth adaptive zooming visual servoing strategy for a manipulator robot with a zooming camera is proposed. Firstly, a zoom control mechanism is introduced into the robot visual servoing system. It can dynamically adjust the camera’s field of view to ...