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...

Sensory systems, such as computer vision, can be used to measure relative robot end-effector positions to derive feedback signals for control of end-effector positioning. The role of vision as the feedback transducer affects closed-loop dynamics, and a visual feedback control strategy is required. Vision-based robot control research has focused on vision processing issues, while control system ...

In this paper we introduce visual compliance, a new vision-based control scheme that lends itself to task-level speciication of manipulation goals. Visual compliance is eeected by a hybrid vision/position control structure. Speciically, the two degrees of freedom parallel to the image plane of a supervisory camera are controlled using visual feedback, and the remaining degree of freedom (perpen...

This paper presents an attractive position-based visual sewoing approach for camera-in-hand robotic systems. The major contribution of this work is in devising an elegant and pragmatic approach for 3 0 visual tracking. The proposed Modijied Smith Predictor (MSP)-DeMenthon-Horaud (DH) visual sewoing system has shown to be reliable and yielded good target tracking performance. It d@er from the ot...

The theoretical framework and experimental validation of a new image-based position-force control in an unknown environment is presented in this paper. This scheme produces simultaneous convergence of the constrained visual position and the contact force between the end-effector and the unknown constraint surface. Camera, robot, jacobian parameters and constrain surface are considered uncertain...

Research on the visual system of non-primates, such as birds and rodents, is increasing. Evidence that neural responses can differ dramatically between head-immobilized and freely behaving animals underlines the importance of studying visual processing in ethologically relevant contexts. In order to systematically study visual responses in freely behaving animals, an unobtrusive system for moni...