Towards a reactive grasping system for an industrial robot arm
Impacto
Scholar |
Otros documentos de la autoría: Sanz, Pedro J; Recatalá Ballester, Gabriel; Traver Roig, Vicente Javier; del Pobil, Angel P.
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http://dx.doi.org/10.1109/CIRA.1999.809928 |
Metadatos
Título
Towards a reactive grasping system for an industrial robot armAutoría
Fecha de publicación
1999-11Editor
IEEEISBN
0-7803-5806-6Cita bibliográfica
SANZ, P.J., RECATALA, G., TRAVER, V.J. y POBIL, A.P. del, 1999. Towards a reactive grasping system for an industrial robot arm. Computational Intelligence in Robotics and Automation, 1999. CIRA ’99. Proceedings. 1999 IEEE International Symposium on. S.l.: s.n., pp. 1-6Tipo de documento
info:eu-repo/semantics/conferenceObjectVersión de la editorial
https://ieeexplore.ieee.org/document/809928/Versión
info:eu-repo/semantics/publishedVersionResumen
As robots are being increasingly called to operate out of well-structured environments, our contribution focuses in the grasp determination in unknown objects, vision being the exclusive mode of perception. Two ... [+]
As robots are being increasingly called to operate out of well-structured environments, our contribution focuses in the grasp determination in unknown objects, vision being the exclusive mode of perception. Two strategies based on visual parameters extracted from 2D scenes are presented. The first one seeks the object's contour for a grasp that is optimal within a gravitational field, while the second one aims at locating all the grasps that meet certain contact stability criteria, ignoring the gravitational field assumption. Both strategies are complementary in the sense that they endow a robot with different manipulation skills in complex, non-structured scenarios, and can be easily integrated in the implementation of a reactive behavior for the robot. [-]
Descripción
Ponència presentada en el 1999 IEEE International Symposium on Computational Intelligence in Robotics and Automation CIRA'99
Publicado en
1999 IEEE International Symposium on Computational Intelligence in Robotics and Automation CIRA'99Derechos de acceso
http://rightsstatements.org/vocab/CNE/1.0/
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