A New Approach to Visual Servoing in Robotics
Abstract
Vision-based control in robotics based on considering a vision system as a specific sensor dedicated to a task and included in a control servo loop is described. Once the necessary modeling stage is performed, the framework becomes one of automatic control, and stability and robustness questions arise. State-of-the-art visual servoing is reviewed, and the basic concepts for modeling the concerned interactions are given. The interaction screw is thus defined in a general way, and the application to images follows. Starting from the concept of task function, the general framework of the control is described, and stability results are recalled. The concept of the hybrid task is presented and then applied to visual sensors. Simulation and experimental results are presented, and guidelines for future work are drawn in the conclusion.>
Integrity signals
Registry
Cites
Statistics
Claims the paper makes
Claims other papers make about this one
Each is checked against this paper’s own text: does it say what the citing paper says it does?
Low level fast reactive control has been explored for integration with robot manipulators in proximity perception and visual servoing.
“Low level fast reactive control has been explored for integration with robot manipulators in proximity perception (Mayton et al., 20102010; Navarro et al., 2021) as well as visual servoing (Espiau et al., 1992).”
From Lessons for Robotics From the Control Architecture of the Octopus (2022) · cites this paper as Espiau et al., 1992
Cites
A Comprehensive Introduction to Differential Geometry.
Kramer, A. D., & Spivak, M. (1973) · American Mathematical Monthly · doi:10.2307/2319112 · Cited by 3,525 · see citing works
Dynamic sensor-based control of robots with visual feedback
Weiss, L. E., Sanderson, A. C., & Neuman, C. P. (1987) · IEEE Journal on Robotics and Automation · doi:10.1109/jra.1987.1087115 · Cited by 832 · see citing works
Velocity determination in scenes containing several moving objects
Fennema, C. L., & Thompson, W. B. (1979) · Computer Graphics and Image Processing · doi:10.1016/0146-664x(79)90097-2 · Cited by 578 · see citing works
Robot control: the task function approach
(1991) · Choice Reviews Online · doi:10.5860/choice.29-2128 · Cited by 445 · see citing works
Vision-guided servoing with feature-based trajectory generation (for robots)
Feddema, J. T., & Mitchell, O. R. (1989) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.88086 · Cited by 313 · see citing works
Real Time Control of a Robot with a Mobile Camera
Hill, J. J. (1979) · Medical Entomology and Zoology · Cited by 218 · see citing works
Combining Sonar and Infrared Sensors for Mobile Robot Navigation
Flynn, A. M. (1988) · The International Journal of Robotics Research · doi:10.1177/027836498800700602 · Cited by 194 · see citing works
Chaumette, F., Rives, P., & Espiau, B. (2002) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.1991.131965 · Cited by 185 · see citing works
Self-citationA maximum likelihood framework for determining moving edges
Bouthémy, P. (1989) · IEEE Transactions on Pattern Analysis and Machine Intelligence · doi:10.1109/34.24782 · Cited by 155 · see citing works
A Real-Time Video Tracking System
Gilbert, A. L., Giles, M. K., Flachs, G. M., et al. (1980) · IEEE Transactions on Pattern Analysis and Machine Intelligence · doi:10.1109/tpami.1980.4766969 · Cited by 111 · see citing works
Proximity sensing in robot manipulator motion planning: system and implementation issues
Cheung, E. B., & Lumelsky, V. (1989) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.88096 · Cited by 97 · see citing works
Adaptive Visual Servo Control of Robots
Sanderson, A. C., & Weiss, L. E. (1983) · Springer eBooks · doi:10.1007/978-3-662-09771-7_7 · Cited by 87 · see citing works
Dynamic visual servo control of robots : an adaptive image-based approach
Weiss, L. E. (2018) · doi:10.1184/r1/6554630 · Cited by 85 · see citing works
Automatic selection of image features for visual servoing of a robot manipulator
Feddema, J. T., Lee, C. S. G., & Mitchell, O. R. (2003) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.1989.100086 · Cited by 78 · see citing works
Using gripper mounted infrared proximity sensors for robot feedback control
Balek, D., & Kelley, R. B. (2005) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.1985.1087328 · Cited by 39 · see citing works
Closed-loop recursive estimation of 3D features for a mobile vision system
Espiau, B., & Rives, P. (2005) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.1987.1087829 · Cited by 29 · see citing works
Self-citationVisual servoing based on a task function approach
Rives, P., Chaumette, F., & Espiau, B. (1990) · Lecture notes in control and information sciences · doi:10.1007/bfb0042532 · Cited by 26 · see citing works
Self-citationVideo-Rate Visual Servoing for Robots
Corke, P., & Paul, R. P. (1989) · doi:10.21236/ada218711 · Cited by 25 · see citing works
Multiprocessor Control of a Telemanipulator with Optical Proximity Sensors
Wampler, C. W. (1984) · The International Journal of Robotics Research · doi:10.1177/027836498400300103 · Cited by 23 · see citing works
Application of the Task-function Approach to Sensor-based Control of Robot Manipulators
Samson, C., & Espiau, B. (1990) · IFAC Proceedings Volumes · doi:10.1016/s1474-6670(17)51746-2 · Cited by 22 · see citing works
Self-citationAn adaptive approach to video tracking
Kabuka, M. R., Mcvey, E. S., & Shironoshita, P. (1988) · IEEE Journal on Robotics and Automation · doi:10.1109/56.2088 · Cited by 15 · see citing works
Dynamic Vision:Theoretical Capabilities and Practical Problems
Rives, P. (1990) · Springer eBooks · doi:10.1007/978-3-642-84012-8_13 · Cited by 11 · see citing works
Self-citationSensory-Based Control Robustness Issues and Modelling Techniques Application to Proximity Sensing
Espiau, B. (1990) · Springer eBooks · doi:10.1007/978-3-642-84012-8_1 · Cited by 11 · see citing works
Self-citation
Flagged first, then by citations
Cited by
Sorted by citations
Real-time visual tracking of complex structures
Drummond, T., & Cipolla, R. (2002) · IEEE Transactions on Pattern Analysis and Machine Intelligence · doi:10.1109/tpami.2002.1017620 · Cited by 598 · see citing works
Machine learning-based imaging system for surface defect inspection
Park, J.-K., Kwon, B.-K., Park, J.-H., & Kang, D.-J. (2016) · International Journal of Precision Engineering and Manufacturing-Green Technology · doi:10.1007/s40684-016-0039-x · Cited by 311 · see citing works
On ground validation of debris removal technologies
Colmenarejo, P., Graziano, M., Novelli, G., Mora, D., Serra, P., Tomassini, A., Seweryn, K., Prisco, G., & Fernandez, J. G. (2019) · Acta Astronautica · doi:10.1016/j.actaastro.2018.01.026 · Cited by 33 · see citing works
Lessons for Robotics From the Control Architecture of the Octopus
Sivitilli, D. M., Smith, J. R., & Gire, D. H. (2022) · Frontiers in Robotics and AI · doi:10.3389/frobt.2022.862391 · Cited by 13 · see citing works
Chaumette, F. (2007) · Modeling, Performance Analysis and Control of Robot Manipulators · doi:10.1002/9780470612286.ch6 · Cited by 5 · see citing works
Self-citation
- Authors
- Espiau, B., Chaumette, F., & Rives, P.
- Affiliations
- École Nationale Supérieure des Mines de Paris (FR)
- Institut national de recherche en sciences et technologies du numérique (FR)
- Centre Inria d'Université Côte d'Azur (FR)
- ORCID
- Chaumette, F.
- Venue
- IEEE Transactions on Robotics and Automation
- Published
- 1992-06
- Volume
- 8
- Issue
- 3
- Pages
- 313-326
- ISSN
- 1042-296X (ISSN-L)
- OpenAlex
- W4248304976
- Cited by
- 1,384
- References
- 23
- Citations by year
- 2026: 11 · 2025: 10 · 2024: 21 · 2023: 20 · 2022: 38 · 2021: 22 · 2020: 30 · 2019: 46 · 2018: 44 · 2017: 37 · 2016: 44 · 2015: 35 · 2014: 49 · 2013: 31 · 2012: 32
- FWCI
- 15.91
- Type
- journal article
- Language
- en
- Open access
- closed
- Locations
- IEEE Transactions on Robotics and Automation (publishedVersion)
- Topics
- Physical Sciences › Computer Science › Computer Vision and Pattern Recognition › Advanced Vision and Imaging
- Physical Sciences › Engineering › Control and Systems Engineering › Robot Manipulation and Learning
- Physical Sciences › Engineering › Mechanical Engineering › Teleoperation and Haptic Systems
- Keywords
- visual servoing, task functions, stability analysis, robustness, vision sensors, robot control
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
What counts as a claim ›How we measure confidence ›How we check this ›
Are you an author, or do you see a problem with this page? Request a review
