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Keywords:

  • visual feedback control;
  • visual servo;
  • visual tracking;
  • optical flow;
  • robots

Abstract

The paper presents recent advances of vision-based motion control for robotic systems. The visual feedback loop is very effective for increasing the dexterity and flexibility of robot's task. With the development of vision and computer technology, the visual feedback applications are remarkably expanded for various robotic systems. In the paper, at first, a variety of vision-based approaches in Japan are overviewed from the viewpoint of motion control scheme, and fundamental formulations of visual servo controller are described. And two kinds of visual feedback applications are introduced with several experimental evaluations. The first one is non-delayed visual tracking approach using active stereo vision. It is found that the target motion estimation is an important issue for fast tracking. The other is the motion controller for wheelchair-type mobile robots based on optical flow field. The vision-based feedback controller conducts the force-related motion. Then, the vision makes dynamic environmental change transmitted to human operator through force interaction. The validity of these approaches are evaluated by experimental results. Copyright © 2009 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.