Departmental Papers (ESE)


The flexibility of computer vision is attractive when designing manipulation systems which must interact with otherwise unsensed objects. However, occlusions introduce significant challenges to the construction of practical vision-based control systems. This paper provides empirical validation of a vision based control strategy that affords guaranteed convergence to a visible goal from essentially any "safe" initial position while maintaining full view of all the feature points along the way. The method applies to first (quasi-static, or "kinematic") and second (Lagrangian or "mechanical") order plants that incorporate an independent actuator for each degree of freedom.

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version

September 2001


Copyright 2001 IEEE. Reprinted from Proceedings of the 2001 IEEE International Conference on Control Applications, (CCA 2001), pages 1117-1123.

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NOTE: At the time of publication, author Daniel Koditschek was affiliated with the University of Michigan. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.



Date Posted: 02 June 2008

This document has been peer reviewed.