This article is the second of a two-part tutorial on visual servo control. In this tutorial, we have
only considered velocity controllers. It is convenient for most of classical robot arms …

Visual servoing, using image-based control or position-based control, generally gives
satisfactory results. However, in some cases, convergence and stability problems may occur …

Background In the continuous world view, images are modeled as functions on a domain⊂
Rn. Geometric entities like curves and surfaces are manifolds, which can be described as …

The task-based control framework is well established for its ability to generate complex
behavior in versatile robots. When executing multiple complex tasks, continuous and stable …

We propose new redundancy-based solutions to avoid robot joint limits of a manipulator. We
use a control scheme based on the task function approach. We first recall the classical …

Legged humanoid robots need to be able to perform a variety of tasks including interaction
with the environment while maintaining the balance. The external wrenches, which arise …

Image based visual servoing (IBVS) is a vision sensor based control architecture. In
classical approach, an image Jacobian matrix maps image space errors into errors in …

We present an approach to dynamic sensor planning problems in visual servoing.
Specifically, one of the main problems an image-based visual servoing is to plan the camera …

In addition to other things, a robot's design also determines its singularity configurations and
points in the workspace. In designing the robot's working trajectory, one of the main issues of …

This paper introduces a framework for whole-body motion generation integrating operator's
control and robot's autonomous functions during online control of humanoid robots …