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Contribution à la navigation d'un robot mobile par commande référencée multi-...
In this manuscript, we consider the problem of mobile robots navigation using multisensor- based control. Our objective is to safely perform vision-based displacements... -
Navigation référencée multi-capteurs d'un robot mobile en environnement encombré
This work focuses on the navigation of a mobile robot equipped with a camera in a cluttered environment. To perform such a task, we propose to use the image based... -
Visual servoing by means of structured light for plane-to-plane positioning
In this paper we face the problem of positioning a camera attached to the end-effector of a robotic manipulator so that it gets parallel to a planar object. Such... -
Asservissement visuel échographique : Application au positionnement et au sui...
Our work deals with the use of visual servoing strategy to control the motions of an ultrasound (US) probe mounted on a robotic arm in an eye-in-hand con guration. The... -
Nonlinear control and visual servoing of autonomous robots
This thesis focuses on the problem of moving and localizing an autonomous mobile robot in its local environments. The first part of the manuscript concerns two basic... -
Visual servoing in medical robotics.
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Force/position control of parallel robots using exteroceptive pose measurements
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Force/position control of parallel robots using exteroceptive pose measurements.
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Avoiding Moving Obstacles during Visual Navigation
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Automatic landing on aircraft carrier by visual servoing
The aircraft landing on carrier remains a very challenging task whose success affects the efficiency of the entire aeronaval group. In the French Navy, aiding systems... -
Contributions to ultrasound visual servoing
The objective of our research work is to control in a visual closed-loop manner the full motion of a 2D (US) ultrasound probe actuated by a medical robot in order to... -
Vision based motion generation for humanoid robots
This manuscript present my research activities on real-time vision-based behaviors for complex robots such as humanoids. The underlying main scientific question... -
Visual Guidance of an Active Handheld Microsurgical Tool
In microsurgery, a surgeon often deals with anatomical structures of sizes that are close to the limit of the human hand accuracy. Robotic assistants can help to push... -
A global control scheme for free-floating vehicle-manipulators
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Partial visibility constraint in 3D visual servoing
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Control a robot tele-echography by visual servoing
The light weight robots used for robotized tele-echography allow the medical expert to remotely operate a 2D-ultrasound probe. The real-time analysis of the patient's... -
Multimodal Control for Human-Robot Cooperation
JTCF Novel Technology Paper Award for Amusement culture finalist. Associated video: http://www.youtube.com/watch?v=1Ei8uS9hgnQ -
Contribution to a generic model for visual servoing of parallel robots using ...
Parallel robots have good performances in terms of ability to support loads, rigidity and rapidity. However, their control and modelling are complex due to the... -
Visual Servoing Applied to Real-Time Stabilization of a Multi-rotor UAV
International audience
