6 Conclusions



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Next: References Up: Adaptive DVFB for Uncal. Previous: 5.3 12 DOF Control

6 Conclusions

This paper has introduced the concept of perceptual actions as a schema for high level visual control of manipulation. We have also introduced a powerful method of adaptive visual feedback control, and coupled it into this framework. This allowed us to demonstrate visual control of manipulation for some difficult, non-linear problems. We described how the concepts of perceptual action and the visual goals can be used as a specification language for visually guided manipulation, and illustrated the concept by implementing a semi-autonomous robotic system that was able to perform complex visually guided tasks.



jag@cs.rochester.edu