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Modeling and Model Learning in Very High Speed Visual Servo Systems

Research Project

Project/Area Number 14205034
Research Category

Grant-in-Aid for Scientific Research (A)

Allocation TypeSingle-year Grants
Section一般
Research Field Dynamics/Control
Research InstitutionTohoku University (2004)
The University of Tokyo (2002-2003)

Principal Investigator

HASHIMOTO Koichi  Tohoku University, Graduate School of Information Sciences, Professor, 大学院・情報科学研究科, 教授 (80228410)

Co-Investigator(Kenkyū-buntansha) MORI Ryosuke  Tohoku University, Graduate School of Information Sciences, Research Associate, 大学院・情報科学研究科, 助手 (50374989)
KOMURO Takashi  University of Tokyo, Graduate School of Information Physics and Computing, Research Associate, 大学院・情報理工学研究科, 助手 (10345118)
石川 正俊  東京大学, 大学院・情報理工学系研究科, 教授 (40212857)
Project Period (FY) 2002 – 2004
Project Status Completed (Fiscal Year 2004)
Budget Amount *help
¥50,050,000 (Direct Cost: ¥38,500,000、Indirect Cost: ¥11,550,000)
Fiscal Year 2004: ¥14,040,000 (Direct Cost: ¥10,800,000、Indirect Cost: ¥3,240,000)
Fiscal Year 2003: ¥11,050,000 (Direct Cost: ¥8,500,000、Indirect Cost: ¥2,550,000)
Fiscal Year 2002: ¥24,960,000 (Direct Cost: ¥19,200,000、Indirect Cost: ¥5,760,000)
KeywordsVisual Servo / High Speed Vision / Microorganism Control / Robustness / Ball Catching / Learning Algorithm / 超高速マニピュレーション / モデル学習制御 / 単眼視 / トラッキング / アクティブビジョン / ビジョンチップ / ステレオ視
Research Abstract

Conventional manipulators are designed to control the end point position with high accuracy based on the joint angle measurement, and are not designed for high-speed control with vision sensors. Therefore, it is difficult to achieve an intellectual, high-speed task for enabling the performance of high-speed vision. And thus the speed-up of the whole visual feedback system highly depends on the speed-up of the manipulation system. We think that introducing high-speed actuator is not enough and it is important to understand the characteristics of the image processing system and the active vision, the hand system and also the design of the control system. In this sense, to achieve the super-high-speed visual servo system, we have to develop the model that describes the dynamics of all elements composing the system ; and the development of the parameter identification technique ; and the model learning algorithm. The following research are done this year :
1.Visual servo by high-speed hand system : A high-speed multi finger hand system was developed. An algorithm to catch a falling ball and a falling column stably was proposed, and the performance of the super-high-speed visual servo was evaluated by experiments.
2.Microorganism tracking system : A system that can stably observe a swimming paramecium was developed. The position of the pool where a lot of paramecia swim was controlled by a XY stage.
3.Expansion of stability area of visual servo : In this research, the method of expanding the stability area was examined in consideration of the restriction with limited camera view.
4.Composition and robustness in visual servo system : In this research, it was pointed out that the robustness of the system changes greatly by combining different structures and algorithms.
5.Ball capture and lifting task : Ball catching and lifting experiments have been done.

Report

(4 results)
  • 2004 Annual Research Report   Final Research Report Summary
  • 2003 Annual Research Report
  • 2002 Annual Research Report
  • Research Products

    (29 results)

All 2004 Other

All Journal Article (16 results) Publications (13 results)

  • [Journal Article] Configuration and Robustness in Visual Servo2004

    • Author(s)
      G.Chesi, K.Hashimoto
    • Journal Title

      Journal of Robotics and Mechatoronics 16(2)

      Pages: 47-56

    • NAID

      110002506258

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Linux系OSによるリアルタイム制御2004

    • Author(s)
      熊谷, 森, 橋本
    • Journal Title

      計測自動制御学会誌「計測と制御」 43(6)

      Pages: 515-520

    • NAID

      10013134124

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] A Simple Technique for Improving Camera Displacement Estimation In Eye-in-Hand Visual Servoing2004

    • Author(s)
      G.Chesi, K.Hashimoto
    • Journal Title

      IEEE Trans.On Pattern Analysis and Machine Intelligence 26(9)

      Pages: 1239-1242

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Keeping Features in the Field of View in Eye-In-Hand Visual Servoing2004

    • Author(s)
      G.Chesi, K.Hashimoto, D.Prattichizzo, A.Vicino
    • Journal Title

      IEEE Trans.On Robotics 20(5)

      Pages: 908-913

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Tracking and Catching of 3D Flying Target based on GAG Strategy2004

    • Author(s)
      R.Mori, K.Hashimoto, F.Miyazaki
    • Journal Title

      Proc.IEEE Int.Conf.Robotics and Automation

      Pages: 5189-5194

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Examination of Ball Lifting Task using a Mobile Robot2004

    • Author(s)
      R.Mori, K.Hashimoto, F.Takagi, F.Miyazaki
    • Journal Title

      Proc.IEEE Int.Conf.Intelligent Robots and Systems

      Pages: 369-374

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Configuration and Robustness in Visual Servo2004

    • Author(s)
      G.Chest, K.Hashimoto
    • Journal Title

      Journal of Robotics and Mechatoronics 16(2)

      Pages: 47-56

    • NAID

      110002506258

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Real-Time Control by Linux OS2004

    • Author(s)
      M.Kumagai, Y.Mori, K.Hashimoto
    • Journal Title

      Journal of Society of Instrument and Control Engineers 43(6)

      Pages: 515-520

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] A Simple Technique for Improving Camera Displacement Estimation in Eye-in-Hand Visual Serveing2004

    • Author(s)
      G.Chesi, K.Hashimoto
    • Journal Title

      IEEE Trans.On Pattern Analysis and Machine Intelligence 26(9)

      Pages: 1239-1242

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Keeping Features in the Field of View in Eye-In-Hand Visual Serveing2004

    • Author(s)
      G.Chesi, K.Hashimoto, D.Prattichizzo, A.Vicino
    • Journal Title

      IEEE Trans.On Robotics 20(5)

      Pages: 908-913

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Configuration and Robustness in Visual Servo2004

    • Author(s)
      G.Chesi, K.Hashimoto
    • Journal Title

      Journal of Robotics and Mechatronics Vol.16, No.2

      Pages: 178-185

    • NAID

      110002506258

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Linux系OSによるリアルタイム制御2004

    • Author(s)
      熊谷 正朗, 森 友一朗, 橋本 浩一
    • Journal Title

      計測自動制御学会誌「計測と制御」 第43巻,6号

      Pages: 515-520

    • NAID

      10013134124

    • Related Report
      2004 Annual Research Report
  • [Journal Article] A Simple Technique for Improving Camera Displacement Estimation in Eve-in-Hand Visual Servoing2004

    • Author(s)
      G.Chesi, K.Hashimoto
    • Journal Title

      IEEE Transactions on Pattern Analysis and Machine Intelligence Vol.26, No.9

      Pages: 1239-1242

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Keeping Features in the Field of View in Eye-In-Hand Visual Servoing : A Switching Approach2004

    • Author(s)
      G.Chesi, K.Hashimoto, D.Prattichizzo, A.Vicino
    • Journal Title

      IEEE Transactions on Robotics Vol.20, No.5

      Pages: 908-913

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Tracking and Catching of 3D Flying Target based on GAG Strategy2004

    • Author(s)
      R.Mori, K.Hashimoto, F.Miyazaki
    • Journal Title

      Proceedings of IEEE International Conference on Robotics and Automation

      Pages: 5189-5194

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Model-less visual servoing using modified simplex optimization2004

    • Author(s)
      K.Miura, H.Inooka, K.Hashimoto, J.Gangloff, M.Mathelin
    • Journal Title

      Proceedings of 10th International Symposium on Artificial Life and Robotics (CD-ROM)

    • Related Report
      2004 Annual Research Report
  • [Publications] G.Chesi, K.Hashimoto, D.Prattichizzo, A.Vicino: "Keeping features in the field of view in eye-in-hand visual servoing : a switching approach"Transactions on Robotics and Automation. (2004)

    • Related Report
      2003 Annual Research Report
  • [Publications] G.Chesi, K.Hashimoto: "Camera pose estimation from less than eight points in visual servoing"IEEE 2004 Int.Conf.on Robotics and Automation. (2004)

    • Related Report
      2003 Annual Research Report
  • [Publications] G.Chesi, K.Hashimoto: "Effects of Camera Calibration Errors on static-eye and hand-eye visual servoing"Advanced Robotics. Vol.17,No.10. 1023-1040 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] R.Mori, K.Hashimoto, F.Miyazaki: "Tracking and Catching of 3D Flying Target based on GAG Strategy"IEEE 2004 Int.Conf.on Robotics and Automation. (2004)

    • Related Report
      2003 Annual Research Report
  • [Publications] 森 亮介, 橋本 浩一, 宮崎 文夫: "ビジュアルサーボによる3次元移動物体の追跡タスク"日本ロボット学会第21回学術講演会. 1K16 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] G.Chesi, K.Hashimoto, D.Prattichizzo, A.Vicino: "A switching control law for keeping features in the field of view in eye-in-hand visual servoing"Proceedings of IEEE 2003 Int.Conf.on Robotics and Automation. 3929-3934 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] K.Hashimoto, Y.Oishi, Y.Yamamoto: "Control and Modeling of Complex Systems"Birkhauser, Boston. 337 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] G.Chesi, K.Hashimoto: "A self-calibrating technique for visual servoing"41st IEEE Conf.on Decision and Control. 2878-2883 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] G.Chesi, K.Hashimoto: "Static-eye against hand-eye visual servoing"41st IEEE Conf.on Decision and Control. 2854-2859 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] A.Namiki, T.Komuro, M.Ishikawa: "High Speed Sensory-Motor Fusion Based on Dynamics Matching"Proceedings of the IEEE. Vol.90No.7. 1178-1187 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] 並木 明夫, 石井 抱, 石川 正俊: "高速センサフィードバックに基づく把握行動"日本ロボット学会誌. Vol.20No.7. 47-56 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] 並木 明夫, 石川 正俊: "視覚情報に基づくオンライン軌道生成による捕球タスクの実現"日本ロボット学会創立20周年記念学術講演会. 3M23 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] 今井睦朗, 並木明夫, 橋本浩一, 金子真, 石川正俊: "視覚フィードバックを用いた高速ハンドシステムの開発"日本ロボット学会創立20周年記念学術講演会. 3E1 (2002)

    • Related Report
      2002 Annual Research Report

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Published: 2002-04-01   Modified: 2016-04-21  

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