Contribution to Legged Robot Visual Servoing
KES '07 Knowledge-Based Intelligent Information and Engineering Systems and the XVII Italian Workshop on Neural Networks on Proceedings of the 11th International Conference
Self-calibrated visual servoing with respect to axial-symmetric 3D objects
Robotics and Autonomous Systems
A unified approach to integrate unilateral constraints in the stack of tasks
IEEE Transactions on Robotics - Special issue on rehabilitation robotics
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Modeling a legged robot for visual servoing
ICCSA'07 Proceedings of the 2007 international conference on Computational science and its applications - Volume Part III
Brief paper: Vision-based control for rigid body stabilization
Automatica (Journal of IFAC)
Global task-space adaptive control of robot
Automatica (Journal of IFAC)
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In the recent past, the visibility problem in vision-based control has been widely investigated. The proposed solutions generally have a common goal: to always keep the object in the camera's field of view during the visual servoing. Contrary to this solution, we propose a new approach based on the concept of allowing the changes of visibility in image features during the control task. To this aim, the camera invariant visual-servoing approach has been redefined in order to take into account the changes of visibility in image features. A new smooth task function using weighted features is presented, and a continuous control law is obtained starting from it by imposing its exponential decrease to zero. Furthermore, the local stability analysis of the invariant visual-servoing approach with weighted features is presented. Finally, this promising way of dealing with the visibility issue has been successfully tested with an eye-in-hand robotic system.