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基本説明
Provides readers with extensive research in important method of robotic sensing and control.
Full Description
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.
Contents
Vision.- Catadioptric Stereo with Planar Mirrors: Multiple-view Geometry and Camera Localization.- Empirical Characterization of Convergence Properties for Kernel-based Visual Servoing.- High-speed Visual Feedback Control for Grasping and Manipulation.- Human-machine Cooperative Manipulation with Vision-based Motion Constraints.- Luminance: A New Visual Feature for Visual Servoing.- Visual Servoing for Beating Heart Surgery.- Estimation and Path-Planning.- A Variational Approach to Trajectory Planning in Visual Servoing.- Estimation of Homography Dynamics on the Special Linear Group.- Image Measurement Errors in Visual Servoing: Estimating the Induced Positioning Error.- Multicriteria Analysis of Visual Servos through Rational Systems, Biquadratic Lyapunov Functions, and LMIs.- Path-Planning for Visual Servoing: A Review and Issues.- Single Camera Structure and Motion Estimation.- Visual Servoing and Pose Estimation with Cameras Obeying the Unified Model.- Control.- Gradient Projection Methods for Constrained Image-based Visual Servo.- Image-based Visual Servo Control Design with Multi-Constraint Satisfaction.- Points-based Visual Servoing with Central Cameras.- Sensor-based Trajectory Deformation: Application to Reactive Navigation of Nonholonomic Robots.- Unicycle-like Robots with Eye-in-Hand Monocular Cameras: From PBVS towards IBVS.- Unmanned Helicopter Control via Visual Servoing with Occlusion Handling.- Visual Servoing via Nonlinear Predictive Control.
