Enlargement of stable region in visual servo

K. Hashimoto, T. Noritsugu

Research output: Contribution to journalConference articlepeer-review

10 Citations (Scopus)


This paper proposes a potential switching scheme that enlarge stable region of feature-based visual servoing. Potential is defined as the norm of image feature error and stable region is a downward convex region of the potential surface that includes reference position. The proposed scheme generates relay images that interpolate initial and reference image features and artificial potential is defined by using relay images. The artificial potentials are patched around the reference point of the original potential to enlarge the stable region. Simulations with simplified configuration and experiments on a 6 DOF robot show the validity of the proposed control scheme.

Original languageEnglish
Pages (from-to)3927-3932
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
Publication statusPublished - 2000
Event39th IEEE Confernce on Decision and Control - Sydney, NSW, Australia
Duration: 2000 Dec 122000 Dec 15


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