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Visual Servoing via Advanced Numerical Methods (Paperback, Edition.)
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Visual Servoing via Advanced Numerical Methods (Paperback, Edition.)
Series: Lecture Notes in Control and Information Sciences, 401
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Robots able to imitate human beings have been at the core of
stories of
science?ctionaswellasdreamsofinventorsforalongtime.Amongthe various
skills that Mother Nature has provided us with and that often go
forgotten, the ability of sight is certainly one of the most
important. Perhaps inspired by tales of Isaac Asimov, comics and
cartoons, and surely helped by the progress of electronics in
recent decades, researchers have progressively made the dream of
creating robots able to move and operate by exploiting arti?cial
vision a concrete reality. Technically speaking, we would say that
these robots position themselves and their end-e?ectors by using
the view provided by some arti?cial eyes as feedback information.
Indeed, the arti?cial eyes are visual sensors such as cameras that
have the function to acquire an image of the environment. Such an
image describes if and how the robot is moving toward the goal and
hence constitutes feedback information. This procedure is known in
robotics with the term visual servoing, and it is nothing else than
an imitation of the intrinsic mechanism that allows human beings to
realize daily tasks such as reaching the door of the house or
grasping a cup of co?ee.
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