Eye-vergence visual servoing enhancing Lyapunov-stable trackability

Fujia Yu, Mamoru Minami, Wei Song, Akira Yanou

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)


Visual servoing methods for hand-eye configuration are vulnerable for hand's dynamical oscillation, since nonlinear dynamical effects of whole manipulator stand against the stable tracking ability (trackability). Our proposal to solve this problem is that the controller for visual servoing of the hand and the one for eye-vergence should be separated independently based on decoupling each other, where the trackability is verified by Lyapunov analysis. Then the effectiveness of the decoupled hand and eye-vergence visual servoing method is evaluated through simulations incorporated with actual dynamics of 7-DoF robot with additional 3-DoF for eye-vergence mechanism by amplitude and phase frequency analysis.

Original languageEnglish
Pages (from-to)27-35
Number of pages9
JournalArtificial Life and Robotics
Issue number1-2
Publication statusPublished - Dec 5 2013


  • Eye-vergence
  • Trackability
  • Visual servoing

ASJC Scopus subject areas

  • Biochemistry, Genetics and Molecular Biology(all)
  • Artificial Intelligence


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