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A Dynamical Sensor for Robot Juggling

Visual Servoing: Real-Time Control of Robot Manipulators Based on Visual Sensory Feedback, 1993

A. A. Rizzi and D. E. Koditschek
University of Michigan
Full PDF | Penn Scholarly Commons | Web Link

NOTE: The above PDF is the pre-print version of the published chapter.

Abstract
      We discuss the sensory management strategy that has evolved over the course of our efforts to build a three degree of freedom robot capable of juggling two balls at once . A field rate stereo camera system passes estimates of the balls’ positions to a juggling algorithm that drives the robot’s joint actuators. In order to meet the stringent real-time constraints imposed by such a visual servoing task, we have found it necessary to pay increasingly careful attention to our strategy for controlling the dynamics of the camera window management system. The paper concludes with an initial attempt to formalize this control problem.
BibTeX entry
@inbook{rizzi-vs-1993,
  author     = {A. A. Rizzi and D. E. Koditschek},
  title      = {A Dynamical Sensor for Robot Juggling},
  booktitle  = {Visual Servoing},
  chapter    = {8},
  pages      = {229-256},
  editor     = {Koichi Hashimoto},
  publisher  = {World Scientific},
  year       = {1993}
  doi        = {10.1142/9789814503709_0008},
  URL        = {http://www.worldscientific.com/doi/abs/10.1142/9789814503709_0008},
  eprint     = {http://www.worldscientific.com/doi/pdf/10.1142/9789814503709_0008}
}

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