Our research include: Environment-robust uncalibrated visual servoing; Visual contour servoing aiming at object assembly and monitoring; Vision-based automatic manipulation of soft tissue aiming at robot surgery; Vision-based quadrotor control.
Uncalibrated Visual Servoing
An uncalibrated depth-independent adaptive visual servoing system was proposed, which has strong robustness to unknown environment.
Representative work: Uncalibrated vision-based formation control of multi-robots: In a complex environment, select a visual feature of the leader robot to control the motion of follower robots.
Visual Contour Servoing
For object without obvious visual feature, select its contour feature as the visual feedback of the visual servoing system to control the manipulator. Application field: grasping the object, parts inspection, cutting, assembly, adjustment of monitoring view angle etc.
Vision-based automatic manipulation of soft tissue
Aiming at surgery robot, research involves deformation and cutting control of soft tissue. Vision-based method is studied to improve the control system’s robustness to the environment and the tissue’s model.
Representative work: Vision-based deformable trajectory control of soft tissue
Representative work: Simulation of soft tissue cutting
Vision-based quadrotor control
As a passive sensor, cameras provide rich information at a low weight, small size and low power consumption, thus make them a suitable sensor for enabling quadrotor operation both in relatively narrow indoor environment and large, open spaces for exploring, searching and rescuing. Currently we are working on quadrotor visual serving; quadrotor SLAM; vision based target tracking and obstacle avoidance; vision based quadrotor control.
Applications:Inspection;Surveillance;Search and rescue; Disaster response;Fire fighting;