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Partitioned and Hybrid Methods for Visual Servo Control
University of Illinois at Urbana-Champaign
Visual servo control is a method of controlling robots using real-time computer vision feedback. While numerous approaches have evolved, and many systems have been demonstrated in laboratories around the world, most can be classified as either position-based or image-based, depending on whether camera pose or image features are used in the control law. Each approach has well-documented performance problems. In this talk, after a brief description of these methods and their respective shortcomings, I will describe two approaches to overcoming their performance problems. With the first approach, the control system is partitioned along its spatial degrees of freedom. Rotation about and translation along the optical axis are controlled by a specifically designed controller, and the remaining degrees of freedom are controlled with a traditional image-based method. With the second approach, a hybrid, switched control system selects either an image-based or position-based controller at each time instant, using a state-based switching scheme. The performance of both of these approaches has been verified by a variety of simulated and experimental results. If time permits, I will also describe recent results applying a switched method to the control of a unicycle robot with field-of-view constraints.
Seth Hutchinson received his Ph.D. from Purdue University in 1988. In 1990 he joined the faculty at the University of Illinois in Urbana-Champaign, where he is currently a Professor in the Department of Electrical and Computer Engineering, the Coordinated Science Laboratory, and the Beckman Institute for Advanced Science and Technology. Hutchinson is Editor-in-Chief of the IEEE Transactions on Robotics, and previously served as the first Editor-in-Chief for the RAS Conference Editorial Board. He currently serves on the editorial boards of the International Journal of Robotics Research and the Journal of Intelligent Service Robotics. In 1996 he was a guest editor for a special section of the Transactions devoted to the topic of visual servo control, and in 1994 he was co-chair of an IEEE Workshop on Visual Servoing. In 1996 and 1998 he co-authored papers that were finalists for the King-Sun Fu Memorial Best Transactions Paper Award. He was co-chair of IEEE Robotics and Automation Society Technical Committee on Computer and Robot Vision from 1992 to 1996, and has served on the program committees for more than fifty conferences related to robotics and computer vision. He has published more than 175 papers on the topics of robotics and computer vision, and is coauthor of the books “Principles of Robot Motion: Theory, Algorithms, and Implementations," published by MIT Press, and "Robot Modeling and Control," published by Wiley. Hutchinson is a Fellow of the IEEE.
This Event is For: Public • Graduate • Undergraduate • Faculty • Post-Docs