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In this paper, we design an image-based robust controller to compensate uncertainties with image Jacobian and robot dynamics due to uncertain depth measurement and load variations. The proposed controller with eye-in-hand structure has separate terms to compensate each of uncertainties. The ultimately uniform boundedness of the closed-loop system is proved by the Lyapunov method. The performance of...
The human eyes cannot easily focus on two separate targets at the same time. However the two eyeballs can rotate in opposite directions when the target approaches or leaves. The two eyes have their own cooperative movements called conjugate and vergence eye movements. Since the classifications of eye movement patterns in physiology are based on the phenomena of eyeball rotations, it is difficult to...
The problem of grasping novel objects in a fully automatic way has gained increasing importance. In this work we consider the problem of grasping novel objects with the help of a laser range scanner. This includes autonomous object detection and grasp motion planning. The used system consists of a fixed working station equipped with a laser range scanner, a seven degrees of freedom manipulator and...
A robotic manipulation system for automated selection and transfer of individual living cells of interest to analysis locations is presented. The system is the first in a series of operational components comprising an integrated system for the analysis of cell expression and metabolism at the single cell level. In our approach, we begin with a commonly used cell transfer technique, which uses glass...
We present a real-time person tracking system for a mobile robot using the information from a PTZ video camera and a laser range finder. For robust tracking, the target person model is constructed. The model includes the color, edge and size information of the tracked person. People moving in the field of view are detected by the robot via the laser range finder and verified against the target person...
This paper proposes multiple self-organizing maps (SOMs) for control of a visuo-motor system that consists of a redundant manipulator and multiple cameras in an unstructured environment. The maps control the manipulator so that it reaches its end-effector to targets given in the camera images. Also the maps make the manipulator take obstacle free poses. Multiple cameras are introduced to avoid occlusions...
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