[Research]

Visual servo system is a feedback control system based on visual information. Visual servo system is essential for autonomous robots working in unknown environments. Visual servo system is composed of two processes, namely environment recognition and motion control. We consider the visual servo system as an unified dynamical system which has nonlinear measurement and nonlinear dynamics. The feature-based approach provides a theoretical background for robustness against modeling errors. The research activities to clarify the nature of visual servoing and to utilize its good characteristics are now going on.

Projects

• Organized bio-modules using microorganisms
• Analysis of geometrical structure of visual servo systems
  • Evaluation of feature set using sensitivity
  • Visual servoing of nonholonomic systems
• Stability analysis of visual servo systems
  • Global stabilization of visual servo systems using potential switching
  • Path planning in image plane
• Applications of visual servo
  • Observers for velocity estimation
  • Filters for motion prediction
  • Robotic yoyo
  • Trajectory control of blimp

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