Shape recognition and vision-based robot control by shape morphing

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper we article presents a unified approach for object recognition and recognition based control of robotic interactions with objects. The approach is based on morphing the shape of objects. The morph of one object to another is treated as a deformation and is defined such that it can be quantified using a physics based model. This quantification serves as a dissimilarity measure and is used for shape recognition. By storing the views that represent the grasp positions for different object, the proposed framework is used to identify the desired end position a robot needs to attain for interacting with the given object. Furthermore, the images synthesized during the morph define a view based trajectory, starting with the view defining the initial robot-object orientation to the view defining the desired robot-object orientation. We propose a technique where these synthetic images are used to control the motion of a PUMA 560 eye-in-hand manipulator to execute alignment and grasping tasks. The proposed approach does not require complete calibration information, obviates manual feature selection and correspondence, can provide smooth trajectories, and needs a single image for each object (in a 4-DOF formulation). Potential applications range from recognition and positioning with respect to partially occluded or deformable objects as well as planning robotic grasping based on human demonstration.

Original languageEnglish (US)
Title of host publicationProceedings - 1999 International Conference on Information Intelligence and Systems, ICIIS 1999
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages188-195
Number of pages8
ISBN (Electronic)0769504469, 9780769504469
DOIs
StatePublished - 1999
Event1999 International Conference on Information Intelligence and Systems, ICIIS 1999 - Bethesda, United States
Duration: Oct 31 1999Nov 3 1999

Publication series

NameProceedings - 1999 International Conference on Information Intelligence and Systems, ICIIS 1999

Other

Other1999 International Conference on Information Intelligence and Systems, ICIIS 1999
Country/TerritoryUnited States
CityBethesda
Period10/31/9911/3/99

Bibliographical note

Publisher Copyright:
© 1999 IEEE.

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