An active visual estimator for dexterous manipulation

Author

Rizzi, Alfred A. ; Koditschek, Daniel E.

Author_Institution

Dept. of Electr. Eng. & Comput. Sci., Michigan Univ., Ann Arbor, MI, USA

Volume

12

Issue

5

fYear

1996

fDate

10/1/1996 12:00:00 AM

Firstpage

697

Lastpage

713

Abstract

We present a working implementation of a dynamics based architecture for visual sensing. This architecture provides field rate estimates of the positions and velocities of two independent falling balls in the face of repeated visual occlusions and departures from the field of view. The practical success of this system can be attributed to the interconnection of two strongly nonlinear dynamical systems: a novel triangulating state estimator; and an image plane window controller. We detail the architecture of this active sensor, provide data documenting its performance, and offer an analysis of its soundness in the form of a convergence proof for the estimator and a boundedness proof for the controller

Keywords

active vision; manipulator dynamics; motion estimation; nonlinear control systems; robot vision; state estimation; active sensor; active visual estimator; dexterous manipulation; dynamics based architecture; field rate estimates; image plane window controller; juggling robot; nonlinear dynamical systems; triangulating state estimation; visual occlusions; visual sensing; Cameras; Control systems; Manipulator dynamics; Nonlinear control systems; Nonlinear dynamical systems; Robot sensing systems; Robot vision systems; Robotics and automation; Sensor phenomena and characterization; State estimation;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.538975

Filename

538975