Snakes for robotic grasping

Doug Perrin, Osama Masoud, Christopher E. Smith, Nikolaos P Papanikolopoulos

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

Abstract

Object grasping is one of the basic functions required for many manipulator tasks. In particular, the grasping of unknown objects is often a desired functionality in manipulator system applications ranging from space exploration to factory automation. Due to the amount of object and environment data typically required to execute an unknown object grasp, computer vision is the sensing modality of choice. This paper presents a method for the automatic determination of plausible grasp points on unknown objects using an eye-in-hand robotic system and active deformable contour models. The system finds potential grasp point pairs, ranks all the possible pairs based upon measurements taken from the contour, and executes a vision-guided grasp of the object using the highest ranked grasp point. The paper also presents initial experimental results.

Original languageEnglish (US)
Title of host publicationEuropean Control Conference, ECC 1999 - Conference Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4561-4566
Number of pages6
ISBN (Electronic)9783952417355
StatePublished - Mar 24 2015
Event1999 European Control Conference, ECC 1999 - Karlsruhe, Germany
Duration: Aug 31 1999Sep 3 1999

Other

Other1999 European Control Conference, ECC 1999
CountryGermany
CityKarlsruhe
Period8/31/999/3/99

Fingerprint

Manipulators
Robotics
Factory automation
End effectors
Computer vision

Cite this

Perrin, D., Masoud, O., Smith, C. E., & Papanikolopoulos, N. P. (2015). Snakes for robotic grasping. In European Control Conference, ECC 1999 - Conference Proceedings (pp. 4561-4566). [7100054] Institute of Electrical and Electronics Engineers Inc..

Snakes for robotic grasping. / Perrin, Doug; Masoud, Osama; Smith, Christopher E.; Papanikolopoulos, Nikolaos P.

European Control Conference, ECC 1999 - Conference Proceedings. Institute of Electrical and Electronics Engineers Inc., 2015. p. 4561-4566 7100054.

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

Perrin, D, Masoud, O, Smith, CE & Papanikolopoulos, NP 2015, Snakes for robotic grasping. in European Control Conference, ECC 1999 - Conference Proceedings., 7100054, Institute of Electrical and Electronics Engineers Inc., pp. 4561-4566, 1999 European Control Conference, ECC 1999, Karlsruhe, Germany, 8/31/99.
Perrin D, Masoud O, Smith CE, Papanikolopoulos NP. Snakes for robotic grasping. In European Control Conference, ECC 1999 - Conference Proceedings. Institute of Electrical and Electronics Engineers Inc. 2015. p. 4561-4566. 7100054
Perrin, Doug ; Masoud, Osama ; Smith, Christopher E. ; Papanikolopoulos, Nikolaos P. / Snakes for robotic grasping. European Control Conference, ECC 1999 - Conference Proceedings. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 4561-4566
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