visual perception and robotic manipulation - taylor & kleeman

Just as humanoid robots are inspired by familiar forms, the importance of vision in human perception will likely be mirrored in our service robots.. Visual perception and coordination in

Volume 26

Editors: Bruno Siciliano · Oussama Khatib · Frans Groen

Edited by B Siciliano, O Khatib, and F Groen

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Control of Single Wheel Robots

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Nonlinear Kalman Filtering for Force-Controlled

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agele, M.; Dillmann, R.;

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Mobile Robots in Rough Terrain { Estimation, Motion Planning, and Control with Application to Planetary Rovers

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Integrated Visual Servoing and Force Control

191 p 2002 [3-540-44159-X]

Visual Perception

and Robotic Manipulation

3D Object Recognition, Tracking

and Hand-Eye Coordination

With 96 Figures

Professor Oussama Khatib, Robotics Laboratory, Department of Computer Science, Stanford University,

Stanford, CA 94305-9010, USA, email: khatib@cs.stanford.edu

Professor Frans Groen, Department of Computer Science, Universiteit van Amsterdam, Kruislaan 403, 1098 SJ

Amsterdam, The Netherlands, email: groen@science.uva.nl

Authors

Geoffrey Taylor

Lindsay Kleeman

Monash University

Intelligent Robotics Research Centre

Department of Electrical & Computer Systems Engineering

Monash University, VIC 3800

Australia

grtay1@yahoo.com.au

lindsay.kleeman@eng.monash.edu.au

ISSN print edition: 1610-7438

ISSN electronic edition: 1610-742X

ISBN-10 3-540-33454-8 Springer Berlin Heidelberg New York

ISBN-13 978-3-540-33454-5 Springer Berlin Heidelberg New York

Library of Congress Control Number: 2006923557

This work is subject to copyright All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilm or in other ways, and storage in data banks Duplication of this publication or parts thereof is permitted only under the provisions of the German Copyright Law of September 9, 1965, in its current version, and permission for use must always be obtained from Springer Violations are liable to prosecution under German Copyright Law.

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Typesetting: Digital data supplied by authors.

Data-conversion and production: PTP-Berlin Protago-TEX-Production GmbH, Germany (www.ptp-berlin.com) Cover-Design: design & production GmbH, Heidelberg

Herman Bruyninckx, KU Leuven, Belgium

Raja Chatila, LAAS, France

Henrik Christensen, KTH, Sweden

Paolo Dario, Scuola Superiore Sant’Anna Pisa, Italy

R¨udiger Dillmann, Universit¨at Karlsruhe, Germany

AMERICA

Ken Goldberg, UC Berkeley, USA

John Hollerbach, University of Utah, USA

Lydia Kavraki, Rice University, USA

Tim Salcudean, University of British Columbia, Canada

Sebastian Thrun, Stanford University, USA

ASIA/OCEANIA

Peter Corke, CSIRO, Australia

Makoto Kaneko, Hiroshima University, Japan

Sukhan Lee, Sungkyunkwan University, Korea

Yangsheng Xu, Chinese University of Hong Kong, PRC

Shin’ichi Yuta, Tsukuba University, Japan

STAR (Springer Tracts in Advanced Robotics) has been promoted under the auspices

of EURON (European Robotics Research Network)

ROBOTICSResearchNetwork

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>ĂLˆÌĂ>ĂÞ ˜œ˜‡«>˜>Ă œLiVÌ ˆÊ >Êœ `iÊVÈLi`°

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