This paper discusses a new approach for robotic visual tracking and servoing. We introduce deformable active models as a powerful means for tracking a moving rigid object (an eye-in-hand robot arm is used). Deformable models imitate, in real-time, the dynamic behavior of elastic structures. These computer-generated models are designed to capture the silhouette of rigid objects with well-defined boundaries. In terms of image gradient. By means of an eye-in-hand robot arm configuration, the desired motion of the end-effector is computed with the objective of keeping the target's position and shape invariant with respect to the camera frame. Experimental results are presented for the tracking of a rigid object moving in the three-dimensional space.