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Visual Servoing via Advanced Numerical Methods

  • Graziano Chesi
  • Koichi Hashimoto

Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 401)

Table of contents

  1. Front Matter
  2. Vision

    1. Front Matter
      Pages 1-1
    2. Gian Luca Mariottini, Stefano Scheggi, Fabio Morbidi, Domenico Prattichizzo
      Pages 3-21
    3. John P. Swensen, Vinutha Kallem, Noah J. Cowan
      Pages 23-38
    4. Akio Namiki, Taku Senoo, Satoru Mizusawa, Masatoshi Ishikawa
      Pages 39-53
    5. Christophe Collewet, Eric Marchand
      Pages 71-90
    6. Wael Bachta, Pierre Renaud, Ezio Malis, Koichi Hashimoto, Jacques Gangloff
      Pages 91-114
  3. Estimation and Path-Planning

    1. Front Matter
      Pages 115-115
    2. Ezio Malis, Tarek Hamel, Robert Mahony, Pascal Morin
      Pages 133-150
    3. Graziano Chesi, Yeung Sam Hung, Ho Lam Yung
      Pages 151-167
    4. Moslem Kazemi, Kamal Gupta, Mehran Mehrandezh
      Pages 189-207
    5. Ashwin P. Dani, Warren E. Dixon
      Pages 209-229
    6. Omar Tahri, Youcef Mezouar, François Chaumette, Helder Araujo
      Pages 231-250
  4. Control

    1. Front Matter
      Pages 251-251
    2. Sophie Tarbouriech, Philippe Souères
      Pages 275-294
    3. Hicham Hadj-Abdelkader, Youcef Mezouar, Philippe Martinet
      Pages 295-313
    4. Daniele Fontanelli, Paolo Salaris, Felipe A. W. Belo, Antonio Bicchi
      Pages 335-360
    5. Yasushi Iwatani, Kei Watanabe, Koichi Hashimoto
      Pages 361-374
    6. Guillaume Allibert, Estelle Courtial, Francçois Chaumette
      Pages 375-393
  5. Back Matter

About this book

Introduction

Robots able to imitate human beings have been at the core of stories of science?ctionaswellasdreamsofinventorsforalongtime.Amongthe various skills that Mother Nature has provided us with and that often go forgotten, the ability of sight is certainly one of the most important. Perhaps inspired by tales of Isaac Asimov, comics and cartoons, and surely helped by the progress of electronics in recent decades, researchers have progressively made the dream of creating robots able to move and operate by exploiting arti?cial vision a concrete reality. Technically speaking, we would say that these robots position themselves and their end-e?ectors by using the view provided by some arti?cial eyes as feedback information. Indeed, the arti?cial eyes are visual sensors such as cameras that have the function to acquire an image of the environment. Such an image describes if and how the robot is moving toward the goal and hence constitutes feedback information. This procedure is known in robotics with the term visual servoing, and it is nothing else than an imitation of the intrinsic mechanism that allows human beings to realize daily tasks such as reaching the door of the house or grasping a cup of co?ee.

Keywords

Visual Servoing automation calculus computer vision control engineering geometry image processing model numerical methods optimal control optimization robotics robust control stability surgery

Editors and affiliations

  • Graziano Chesi
    • 1
  • Koichi Hashimoto
    • 2
  1. 1.Department of Electrical and Electronic EngineeringUniversity of Hong KongHong KongChina, People’s Republic
  2. 2.Dept. System Information SciencesTohoku UniversitySendai, Aoba-kuJapan

Bibliographic information

  • DOI https://doi.org/10.1007/978-1-84996-089-2
  • Copyright Information Springer-Verlag London 2010
  • Publisher Name Springer, London
  • eBook Packages Engineering
  • Print ISBN 978-1-84996-088-5
  • Online ISBN 978-1-84996-089-2
  • Series Print ISSN 0170-8643
  • Series Online ISSN 1610-7411
  • Buy this book on publisher's site