TY - GEN
T1 - Snakes for robotic grasping
AU - Perrin, Doug
AU - Masoud, Osama
AU - Smith, Christopher E.
AU - Papanikolopoulos, Nikolaos P.
PY - 2015/3/24
Y1 - 2015/3/24
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84930606881&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84930606881&partnerID=8YFLogxK
U2 - 10.23919/ecc.1999.7100054
DO - 10.23919/ecc.1999.7100054
M3 - Conference contribution
AN - SCOPUS:84930606881
T3 - European Control Conference, ECC 1999 - Conference Proceedings
SP - 4561
EP - 4566
BT - European Control Conference, ECC 1999 - Conference Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 1999 European Control Conference, ECC 1999
Y2 - 31 August 1999 through 3 September 1999
ER -