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On-line Estimation of Visual-Motor
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On-line Estimation of Visual-Motor
Contents
List of Tables
List of Figures
1 Introduction
1.1 The Need for a New Approach to Robotic Manipulation
1.2 Sources of Inspiration
1.2.1 Visual Servoing
1.2.2 Learning by Watching
1.2.3 Reactive Robotic Systems
1.2.4 Active Vision
1.3 Contributions
1.4 An Integrated Approach to Uncalibrated Hand-Eye Coordination
1.5 Organization of this Dissertation
2 Related Work
3 A Tutorial on Adaptive Visual Servoing
3.1 Derivation of a Control Method
3.2 Finding the Jacobian
3.3 Moving the Robot
4 Uncalibrated Jacobian Based Viewing Model
4.1 Visual Measures
4.1.1 Feature Based Measures
4.1.2 Eigen-Image Subspace Based Filters
4.1.3 Disparity Based Measures
4.2 Model Estimation
4.2.1 Recursive On-line Jacobian Estimation
4.2.2 Use of Estimated Visual-Motor Models
5 Visual Servo Control
5.1 Trust Region
5.2 Visual Space Trajectory Control
5.3 On the Visual-Motor Model
5.4 Implementation Issues
5.5 Experiments with Visual Servoing
5.5.1 Experimental Procedure
5.6 Repeatability
3 and 6 DOF Adaptive v.s. Non-adaptive Control
5.8 Effects of Over-determined Input Spaces
12 DOF Control of a Non-rigid Foam Beam
5.10 Experiments with the Utah/MIT Hand
5.10.1 Repeatability in 3 and 4 DOF
6 DOF Visual Servo Control of the Utah/MIT Hand
6 Appearance Based View Synthesis and Animation
6.1 Overview of the View Synthesis Method
6.2 Synthesizing Images
6.2.1 On-line View Synthesis
6.2.2 Off-line View Synthesis
6.3 Experiments with View Synthesis
6.4 Comparison: Subspace and Disparity Based Measures
6.5 Evaluating the Estimated Visual-Motor Model of a Human Arm
6.6 On-line Linear View Synthesis
6.7 An Off-line PUMA 760 Robot Simulator
3 DOF World Coordinate Driven Synthesis
7 Visual Space Task Representation, Planning and Control
7.1 Overview of Task Specification
7.2 Structure of the Specification and Planning Levels
7.3 Classification of Servoing Movements
7.4 Component Behaviors: Mid Level Visual Primitives
Experiments with Visual Specification
7.6 Combining Primitives: Solving a Child's Puzzle
7.7 Eye-in-Hand Manipulation: Installing a Light Bulb
8 Conclusions
8.1 Combined Model Acquisition and Control
8.2 Evaluation of Visual Servo Control
8.3 Image based View Synthesis
8.4 Visual Space Task Specification
9 Future Work
9.1 Remote Tele-Assistance
9.2 External Prosthesis
9.3 Research Areas
9.3.1 Combined Mobile Robot and Manipulator Control
9.3.2 Integrated Visual-Motor Kinematics and Dynamics
9.3.3 Better Visual Front End
9.3.4 Eye-tracker User interface
9.3.5 Combine Uncalibrated Manipulation with Image Based Recognition
9.3.6 Generalization to Very High Motor DOF's
References
Martin Jägersand