Vision-based grasp tracking for planar objects
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Otros documentos de la autoría: Recatalá Ballester, Gabriel; Carloni, Raffaella; Melchiorri, Claudio; Sanz, Pedro J; Cervera, Enric; del Pobil, Angel P.
Metadatos
Mostrar el registro completo del ítemcomunitat-uji-handle:10234/9
comunitat-uji-handle2:10234/7036
comunitat-uji-handle3:10234/8620
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Título
Vision-based grasp tracking for planar objectsAutoría
Fecha de publicación
2008Editor
IEEE Systems, Man, and Cybernetics SocietyISSN
10946977Tipo de documento
info:eu-repo/semantics/articlePalabras clave / Materias
Resumen
In robotics, the manipulation of a priori unknown objects involves
several steps and problems that must be carefully considered and
solved by proper planning and control algorithms. For example, once suitable
contact ... [+]
In robotics, the manipulation of a priori unknown objects involves
several steps and problems that must be carefully considered and
solved by proper planning and control algorithms. For example, once suitable
contact points have been computed, the control system should be
able to track them in the approach phase, i.e., while the relative position/
orientation of the object and the gripper of the robotic system change
due to the approaching movement of the robot toward the object. This
correspondence paper proposes a practicalmethod for the tracking of grasp
points in image space that is based on transferring previously computed
grasp points from an initial image to subsequent ones and on the analysis
of the new grasp configuration. Three different options are proposed
for this transference. Experimental results show the interesting practical
performance of the general procedure [-]
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info:eu-repo/semantics/openAccess
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