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GRASP Seminar Series: Spring 2006
May 4, 12:00 p.m., Berger Auditorium, Skirkanich Hall (210 S. 33rd Street)
Seth Hutchinson
University of Illinois at Urbana-Champaign
"Partitioned and Hybrid Methods for Visual Servo Control "
Abstract: Visual servo control concerns the problem of controlling robots using
real-time computer vision feedback. While numerous approaches have
evolved over the years 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 have 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.
Biography: Seth Hutchinson is a professor of Electrical and Computer Engineering
at the University of Illinois at Urbana-Champaign. He received his
Bachelors (1983), Masters (1984), and Ph.D. (1984) degrees in
Electrical Engineering from Purdue University. His research interests
include vision-based control of robotic manipulators, robot motion
planning, and computer vision.
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