Planning and executing visually constrained robot motions

Armando Fox, Andres Castano, Seth A. Hutchinson

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Despite progress in visual servo control of robot motions, to date the corresponding motion planning problem has not been investigated. In this paper, we present an implemented planner for the special case of a polyhedral world, extending previous preimage type planners to exploit visual constraint surfaces in a fixed-camera robotic system featuring closed-loop visual servo control. We present the mathematics of a hybrid (visual/position feedback) resolved-rate motion control strategy for executing these plans, featuring projection equations defined solely in terms of a small set of observable parameters that are directly obtained from our calibration process. We conclude with experimental results, a description of ongoing research, and the contribution of our work to date.

Original languageEnglish (US)
Title of host publicationProceedings of SPIE - The International Society for Optical Engineering
EditorsWilliam E. Stoney
PublisherPubl by Int Soc for Optical Engineering
Number of pages8
ISBN (Print)0819407496
StatePublished - 1992
EventCooperative Intelligent Robotics in Space II - Boston, MA, USA
Duration: Nov 12 1991Nov 14 1991

Publication series

NameProceedings of SPIE - The International Society for Optical Engineering
ISSN (Print)0277-786X


OtherCooperative Intelligent Robotics in Space II
CityBoston, MA, USA

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Computer Science Applications
  • Applied Mathematics
  • Electrical and Electronic Engineering


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