Grasping real objects using virtual images

Rahul Singh, Richard M. Voyles, David Littau, Nikolaos P. Papanikolopoulos

Research output: Contribution to journalConference articlepeer-review

3 Scopus citations


This paper describes a fundamentally new approach to vision-based control in robotics. In particular, the problem of grasping different objects using a robot with a singe camera mounted on the end-effector (an eye-in-hand system) is considered. In the proposed approach the recognition of the object, and thereby the identification of its grasp position, the subsequent translational and rotational pose alignment of the manipulator with the object, and its movement in depth are controlled by using image morphing. We use a model-based framework where the image of each object at a graspable pose is stored in a database. Given an unknown object in the workspace, its identity is established by morphing its contours to the shapes in the database and using a quantification of the morph as a dissimilarity measure. From the morph a sequence of virtual (synthesized) images are obtained, which describe the progressive transformation of the input (both in terms of its shape and pose) to the template. These images are used as sub goals to guide the eye-in-hand robotic system to attain the desired orientation and height from which the grasp can be executed.

Original languageEnglish (US)
Pages (from-to)3269-3274
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
StatePublished - 1998
EventProceedings of the 1998 37th IEEE Conference on Decision and Control (CDC) - Tampa, FL, USA
Duration: Dec 16 1998Dec 18 1998


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