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Hybrid position based vis2 ual servoing with online calibration for a humanoid robot [C]/ / Proc of IEEE/ RSJ International Conference on In2 telligent Robots and Systems. Sandai , J apan , 2004 : 6862 691. [7 ] CHAUMETTE F. Potential problems of stability and convergence in image2based and position2based visual servoing[ C]/ / The Conference of Vision and Control , Volume 237 of Lecture Notes an Control and Information Sciences. [ S. l. ] : Springer2Verlag , 1998. [8 ]CON TICELL I F , ALLO TTA B. Nonlinear controllabili2 ty and stability analysis of adaptive image2based systems [J ]. IEEE Transactions on Robotics and Automation , 2001 , 17 (2) : 2082214. [9 ]COWAN N J , WEIN GARTEN J D , KODITACHEK D E. Visual servoing via navigation functions [J ]. IEEE Trans on Automatic control , 2002 , 18 (4) : 1213. [10 ] MARCHAND E , COMPORT A , CHAUMETTE F. Improvements in robust 2D visual servoing [ C]/ / Proc of the 2004 IEEE International Conference on Robotics & Automation. New Orleans , USA , 2004 : 7452750. [ 11 ] CHAUMETTE F , BOU KIR S. Structure from con2 trolled motion[J ]. IEEE Transactions on Pattern Anal2 ysis and Machine Intelligence , 1996 , 18 (5) : 4922504. [12 ]MAL IS E , CHAUMETTE F , BODET S. 2 1/ 2 D vis2 ual servoing [J ]. IEEE Transactions on Robotics and Automation , 1999 , 15 (2) : 2382250. [13 ]DEGUCHI K. Optimal motion control for image2based visual servoing by decoupling translation and rotation [C]/ / Proc of the Intl Conf on Intelligent Robots and Systems. [ S. l. ]. 1998 : 7052711. [14 ] FAN G Y , BEHAL A , DIXON W E , et al. Adaptive 2. 5D visual servoing of kinematically redundant robot manipulators[C]/ / Proc of the IEEE Conference on De2 cision and Control. Las Vegas , USA , 2002 : 28602 2865. [15 ] FAN G Y , DIXON W E , DAWSON D M ,et al. Homog2 raphy2based visual servoing of mobile robots[J ]. IEEE Transactions on Systems , Man and Cybernetics2Part B : Cybernetics , 2005 , 35 (5) : 104121050. [16 ] HA TL EY R. Multiple view geometry in computer vi2 sion [ M ]. Cambridge : Cambridge University Press , 2004. [17 ]WEN G J , HUAN G T , A HUJ A N. Motion and struc2 ture from two perspective views: algorithms , error a2 nalysis , and error estimation [J ]. IEEE Trans Pattern Analysis and Machine Intelligence , 1989 , 11 (5) : 4512 476. [18 ]CHESIL G, HASHIMO TO K. Camera pose estimation from less than eight points in visual servoing[C]/ / Proc of the 2004 IEEE International Conference on Robotics & Automation. New Orleans , USA , 2004 : 7332738. [19 ] PARK J S , CHUN G M J. Path planning with uncali2 brated stereo rig for image2based visual servoing under large pose discrepancy [J ]. IEEE Transactions on Ro2 botics and Automation , 2003 , 19 (2) : 2502258. [20 ]DIXON W E , FAN G Y, DAWSON D M , FL YNN T J. Range identification for perspective vision systems [J ]. IEEE Transactions on Automatic Control , 2003 , 48 (12) : 223222238. [21 ] KARA GIANNIS D , ASTOL FI A. A new solution to the problem of range identification in perspective vision systems[J ]. IEEE Trans on Automatic Control , 2005 , 50 (12) : 207422077. [22 ] A GU IAR A P , HESPAN HA J P. Minimum2energy state estimation for systems with perspective outputs [J ]. IEEE Trans on Automatic Control , 2006 , 51 (2) : 2262241. [23 ]MA L , CHEN Y , MOORE K L. Range identification for perspective dynamic systems using linear approxima2 tion[C]/ / Proc of the 2004 International Conference on Robotics & Automation. New Orleans , USA , 2004 : 165821663. [24 ] PIEPMEIER J A , MCMURRA Y G V , L IPKIN H. Uncalibrated dynamic visual servoing[J ]. IEEE Trans2 actions on Robotics and Automation , 2004 , 20 ( 12) : 1432147. [ 25 ]ZACHI A , L IU H , ORTEGA R , et al. Immersion and invariance adaptive visual servoing of manipulators with uncertain dynamics[C]/ / Proc of the American Control Conference. Boston , USA , 2004 : 151021515. [26 ]FAN G Y, DIXON W E , DAWSON D M ,et al. Robust 2. 5D visual servoing for robot manipulators[ C]/ / Proc of the American Control Conference. Denver , USA , 2003 : 331123316. [ 27 ]FAN G Y, DIXON W E , DAWSON D M , et al. An ex2 ponential class of model2free visual servoing controllers in the presence of uncertain camera calibration [J ]. In2 第 2 期 方勇纯 :机器人视觉伺服研究综述 ·113 · © 1994-2009 China Academic Journal Electronic Publishing House. All rights reserved. http://www.cnki.net