CISE PostDoc: A Compositional Approach to Vision-Based Manipulation

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9805817 Hager, Gregory Yale University CISE PostDoc: A Compositional Approach to Vision-Based Manipulation In robotic hand-eye coordination there is currently a gap between control-level visual servoing and high-level task specification. The objective of the proposed research program is to bridge this gap in a principled yet practical manner. The primary question to be studied is how and when a given complex manipulation task can be composed from simple provably correct control-level components in such a way as to guarantee correctness of task performance. A related question is how large-scale motions can be divided up into smaller segments so that a homotopy method can be used to sequence these short visual servoing tasks. Another objective of the proposed research is to develop methods for specifying hand-eye coordination tasks which are manipulator and environment invariant using object-attached coordinates. This approach to visual task specification is to be experimentally tested through implementation of a human-machine interface where the operator interactively specifies object-centered manipulation tasks. The impact of this project is the realization of previous theoretical developments by the PI within the context of a large, complex hand-eye system. These developments can in turn be expected to motivate additional theoretical and practical questions related to high-level specification of hand-eye coordination tasks.