Olivier Kermorgant

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— In this paper we address the issue of hybrid 2D/3D visual servoing. Contrary to popular approaches, we consider the position-based visual servo as the core of our scheme. 2D information is only added when necessary, that is when the observed object is about to leave from the field of view, even partially. The injection of 2D information is tuned by only(More)
— This paper presents a multi-task control method to maintain the visibility of an anatomic element of interest while the doctor tele-operates a 2D ultrasound probe held by a medical robot. The prior task consists in automatically maintaining several visual constraints that guarantee an intersection between the ultrasound image plane and the anatomic object(More)
— A low-level sensor fusion scheme is presented for the positioning of a multi-sensor robot. This non-hierarchical framework can be used for robot arms or other velocity-controlled robots, and is part of the task function approach. A stability analysis is presented for the general case, then several control laws illustrate the versatility of the framework.(More)
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— Joint limits avoidance is a crucial issue in sensor-based control. In this paper we propose an avoidance strategy based on a low-level data fusion. The joint positions of a robot arm are considered as features that are continuously added to the control scheme when they approach the joint limits, and removed when the position is safe. We expose an optimal(More)
— In this paper we propose a new on-line sensor self-calibration framework. The approach is to consider the sensor/robot interaction that links the sensor signal variations to the robot velocity. By on-line calibration, we mean only the actual measurements are used to perform calibration under the condition that the interaction matrix is analytically known.(More)
— This paper proposes a general framework to control underwater vehicle-manipulator systems from external sensors. The design of the control law follows several constraints and criteria to optimize the overall behavior. The task is defined in the sensor space, that is suited for visual servoing from camera or sonar images. The control input distribution(More)