Snakes for robotic grasping

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

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


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.
Number of pages6
ISBN (Electronic)9783952417355
StatePublished - Mar 24 2015
Event1999 European Control Conference, ECC 1999 - Karlsruhe, Germany
Duration: Aug 31 1999Sep 3 1999

Publication series

NameEuropean Control Conference, ECC 1999 - Conference Proceedings


Other1999 European Control Conference, ECC 1999

Bibliographical note

Publisher Copyright:
© 1999 EUCA.


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