A Hierarchical Control Architecture for High-Speed Visual Servoing

  title={A Hierarchical Control Architecture for High-Speed Visual Servoing},
  author={Akio Namiki and Koichi Hashimoto and Masatoshi Ishikawa},
  journal={The International Journal of Robotics Research},
  pages={873 - 888}
The efferent signal is the impulses from the brain to muscle or organ tissue. The afferent signal is the sensation that transmits the state of peripheral body parts to the brain. The motor control architectures of biological systems have hierarchical structures in which the efferent/afferent signals interact. Thanks to this architecture, flexible and reflective action is realized. In this paper, we propose a hierarchical control architecture for high-speed visual servoing on the basis of a… 

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