Novel approach to stereo vision and calibration-free robot control:

  • Direct transition from sensor data to motor control commands
  • No world coordinate system
  • No calibration of camera or arm

Relationships between motor control commands and resulting changes in the images ("Sensor-Control Jacobian") are learned automatically:

  • Either through test motions, or as side effects of manipulation processes
  • No training phase necessary
  • Automatic correction or forgetting of obsolete knowledge


  • Robustness against model errors and environmental changes
  • Adaptability regarding even severe disturbances of the sensor configuration, changes in the environment or aging of components
  • Automatic improvement of manipulation speed and skill ("learning by doing")