Product design is an important process in industry whereas it has been usually performed based on aesthetics and static strength rather than on dynamical features of the product in use, or more specifically, in graspi...
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This paper considers the vision-based estimation and control with a panoramic camera via passivity approach. First, a hyperbolic projection of a panoramic camera is presented. Next, using standard body-attached coordi...
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Recently, robotic surgical support systems are in clinical use for minimally invasive surgery. We have developed a multi-DOF robotic forceps manipulator using a novel omnidirectional bending mechanism, and for the dev...
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This paper investigates stabilizing receding horizon control via an image space navigation function for a three-dimensional (3-D) visual feedback system. Firstly, a brief summary of a visual motion observer is given. ...
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This paper investigates stabilizing receding horizon control via an image space navigation function for a three-dimensional (3-D) visual feedback system. Firstly, a brief summary of a visual motion observer is given. Next, a visual motion error system is reconstructed in order to apply to time-varying desired motion. Then, visual motion observer-based stabilizing receding horizon control for the 3-D visual feedback system, highly nonlinear and relatively fast system, is proposed. Moreover, a path planner to be appropriate for the visual motion error system is designed through the image space navigation function to keep all features into a camera field of view. Finally, simulation results are shown in order to confirm the proposed method.
This paper considers the vision-based estimation and control with a panoramic camera via passivity approach. First, a hyperbolic projection of a panoramic camera is presented. Next, using standard body-attached coordi...
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ISBN:
(纸本)9781424474264
This paper considers the vision-based estimation and control with a panoramic camera via passivity approach. First, a hyperbolic projection of a panoramic camera is presented. Next, using standard body-attached coordinate frames (the world frame, mirror frame, camera frame and object frame), we represent the body velocity of the relative rigid body motion (position and orientation). After that, we propose a visual motion observer to estimate the relative rigid body motion from the measured camera data. We show that the estimation error system with a panoramic camera has the passivity which allows us to prove stability in the sense of Lyapunov. After that, stability and L_(2)-gain performance analysis for the closed-loop system are discussed. Finally, simulation and experimental results are shown in order to confirm the proposed method.
Recently, the development of a versatile robot hand aiming at the application to an artificial arm or a humanoid robot is in demand. In this paper, omni-directional bending mechanism which is called "double-screw...
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In this paper, a finger pose estimation method is presented. A direct use of fingers is useful in some applications which require handling of 3D position information. Our finger pose estimation method exploits anatomi...
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In this paper, a finger pose estimation method is presented. A direct use of fingers is useful in some applications which require handling of 3D position information. Our finger pose estimation method exploits anatomical constraints on finger motion and ring-shaped markers to achieve simple and practical measurements applicable to daily life situations. The use of anatomical constraints ensures that no exact placement of the markers is required.
This paper investigates passivity based synchronized visual feedback control for eye-to-hand systems. Firstly the brief summary of the estimation and the control error systems is given with the basic representation of...
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This paper investigates passivity based synchronized visual feedback control for eye-to-hand systems. Firstly the brief summary of the estimation and the control error systems is given with the basic representation of a relative rigid body motion. Secondly we construct the synchronized visual feedback system with an eye-to-hand configuration by combining a synchronization error system. Next, we derive the passivity of the synchronized visual feedback system. Based on passivity, stability analysis is discussed. Finally the validity of the proposed control law can be confirmed by the simulation results.
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