Case studies of vision-based motion planning for robot interception tasks

This paper describes two case studies of motion planning that uses a space called Perceptual Control Surface (PCS) introduced previously as a basis for visually controlling a robot manipulator. The motion planning problems discussed here are limited to dynamic robot hand positioning for interception tasks. Using this approach, a motion planning problem can be regarded as finding a path in robot´s PCS which satisfies certain criteria. Qualitatively different tasks correspond to different type of paths in the PCS. These correspondences are discussed and techniques to find these different paths are outlined