Task specification and monitoring for uncalibrated hand/eye coordination

Z. Dodds, Gregory Hager, A. S. Morse, J. P. Hespanha

Research output: Chapter in Book/Report/Conference proceedingChapter

Abstract

Most of the work in robotic manipulation and visual servoing has emphasized how to specify and perform particular tasks. Recent results have formally shown what tasks are possible with uncalibrated imaging systems. This paper extends those results by characterizing in a constructive manner the set of tasks which can be performed with different types of uncalibrated camera models. The tasks' resulting structure provides a principled foundation both for a specification language and for automatic execution monitoring in uncalibrated environments.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherIEEE
Pages1607-1613
Number of pages7
Volume2
StatePublished - 1999
Externally publishedYes
EventProceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA
Duration: May 10 1999May 15 1999

Other

OtherProceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99
CityDetroit, MI, USA
Period5/10/995/15/99

Fingerprint

Visual servoing
Specification languages
End effectors
Imaging systems
Robotics
Cameras
Specifications
Monitoring

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Dodds, Z., Hager, G., Morse, A. S., & Hespanha, J. P. (1999). Task specification and monitoring for uncalibrated hand/eye coordination. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 2, pp. 1607-1613). IEEE.

Task specification and monitoring for uncalibrated hand/eye coordination. / Dodds, Z.; Hager, Gregory; Morse, A. S.; Hespanha, J. P.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2 IEEE, 1999. p. 1607-1613.

Research output: Chapter in Book/Report/Conference proceedingChapter

Dodds, Z, Hager, G, Morse, AS & Hespanha, JP 1999, Task specification and monitoring for uncalibrated hand/eye coordination. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 2, IEEE, pp. 1607-1613, Proceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99, Detroit, MI, USA, 5/10/99.
Dodds Z, Hager G, Morse AS, Hespanha JP. Task specification and monitoring for uncalibrated hand/eye coordination. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2. IEEE. 1999. p. 1607-1613
Dodds, Z. ; Hager, Gregory ; Morse, A. S. ; Hespanha, J. P. / Task specification and monitoring for uncalibrated hand/eye coordination. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2 IEEE, 1999. pp. 1607-1613
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