세미나 및 이벤트
Recent Progress on Visual Servoing in Robotics
세미나 날짜
2007-05-30
작성자
박심령
작성일
2007-05-28
조회
1542
1. 제 목 : Recent Progress on Visual Servoing in Robotics
2. 연 사 : Philippe Martinet and Nicolas Andreff(LASMEA/Univ. Blaise Pascal)
3. 일 시 : 2007년 5월 30일 (수) 10:30 ~ 12:00
4. 장 소 : 301동 1512호
5. 내 용 :
Recent progress in vision and control has made visual servoing more and more popular all
over the scientific community. While difficult technical challenges still remain with
real applications of visual servoing in everyday life, a string of impressive and encouraging
results have been demonstrated within the last decade. In this seminar, we will present an
introduction to visual servoing, and also present some of the recent works done in the LASMEA
laboratory related to robot visual servoing. In particular, a method will be presented to control
the new Quattro parallel robot by the observation of its legs with a calibrated camera. It will be
shown that the control law depends only on the edges of its forearms extracted from the image,
and that no proprioceptive sensors are used. Indeed, the variables needed for control (namely,
the directions of the arms and forearms as well as the positions of the wrists) can be
reconstructed from the forearms edges. Experimental results will be shown.
6. 연사약력 :
Philippe Martinet graduated from the CUST, Clermont- Ferrand, France, in 1985 and received
the Ph.D. degree in electronics science from the Blaise Pascal University, Clermont-
Ferrand, France, in 1987. From 1990 to 2000, he was an assistant professor with CUST in
the Electrical Engineering Department. Since 2000 he has been a Professor with Institut
Francais de Mecanique Avanche (IFMA), Clermont-Ferrand, and also conducts research in the
Robotics and Vision Group of LASMEA-CNRS. He was the leader of the group GRAVIR (over 74
members) from 2001 til 2006, and until 2006 also led the Robotic System Control team (over
15 members). He is currently a visiting professor at the ISRC, Sungkyunkwan University,
South Korea.
Nicolas Andreff completed his M.Sc. in 1994 in Computer Science and Applied Mathematics in
Toulouse (France), and his Ph.D. in 1999 in Computer Graphics, Computer Vision and
Robotics from Institut National Polytechnique de Grenoble(France). Since 2000 he has been
on the faculty of Institut Francais de Mecanique Avanche in Clermont-Ferrand (France),
where he is now associate professor. His current research interests are in modeling,
identification and control of mechanisms using computer vision.
7. 문 의 : 기계항공공학부 박종우 교수(☏ 880-7133)
2. 연 사 : Philippe Martinet and Nicolas Andreff(LASMEA/Univ. Blaise Pascal)
3. 일 시 : 2007년 5월 30일 (수) 10:30 ~ 12:00
4. 장 소 : 301동 1512호
5. 내 용 :
Recent progress in vision and control has made visual servoing more and more popular all
over the scientific community. While difficult technical challenges still remain with
real applications of visual servoing in everyday life, a string of impressive and encouraging
results have been demonstrated within the last decade. In this seminar, we will present an
introduction to visual servoing, and also present some of the recent works done in the LASMEA
laboratory related to robot visual servoing. In particular, a method will be presented to control
the new Quattro parallel robot by the observation of its legs with a calibrated camera. It will be
shown that the control law depends only on the edges of its forearms extracted from the image,
and that no proprioceptive sensors are used. Indeed, the variables needed for control (namely,
the directions of the arms and forearms as well as the positions of the wrists) can be
reconstructed from the forearms edges. Experimental results will be shown.
6. 연사약력 :
Philippe Martinet graduated from the CUST, Clermont- Ferrand, France, in 1985 and received
the Ph.D. degree in electronics science from the Blaise Pascal University, Clermont-
Ferrand, France, in 1987. From 1990 to 2000, he was an assistant professor with CUST in
the Electrical Engineering Department. Since 2000 he has been a Professor with Institut
Francais de Mecanique Avanche (IFMA), Clermont-Ferrand, and also conducts research in the
Robotics and Vision Group of LASMEA-CNRS. He was the leader of the group GRAVIR (over 74
members) from 2001 til 2006, and until 2006 also led the Robotic System Control team (over
15 members). He is currently a visiting professor at the ISRC, Sungkyunkwan University,
South Korea.
Nicolas Andreff completed his M.Sc. in 1994 in Computer Science and Applied Mathematics in
Toulouse (France), and his Ph.D. in 1999 in Computer Graphics, Computer Vision and
Robotics from Institut National Polytechnique de Grenoble(France). Since 2000 he has been
on the faculty of Institut Francais de Mecanique Avanche in Clermont-Ferrand (France),
where he is now associate professor. His current research interests are in modeling,
identification and control of mechanisms using computer vision.
7. 문 의 : 기계항공공학부 박종우 교수(☏ 880-7133)
