Oh Paul Y. author Columbia University. Computer Science Allen Peter K. author Columbia University. Computer Science Columbia University. Computer Science originator text Articles 1999 English We present a novel approach we call partitioning where the robot's degrees-of-freedom (DOF) are categorized into two classes based on joint kinematics and dynamics to design a coupled multi-input control system. We use image data to visually servo the first class of joints that have quick response time. Position-based data is used to kinematically servo the second class of joints that have large kinematic range. The net effect is an active-vision system that synergistically tracks a diverse range of targets (without using CAD-based models) over a wide bandwidth of motion dynamics. Robotics Piscataway, N.J. IEEE 1999 275 280 http://dx.doi.org/10.1109/ROBOT.1999.769987 http://hdl.handle.net/10022/AC:P:15213 NNC NNC 2012-11-07 12:47:24 -0500 2012-11-07 12:52:25 -0500 9215 eng