Automated tracking and grasping of a moving object with a robotic hand-eye system

Automated Tracking and Grasping of a Moving Object with a Robotic Hand-Eye System

Most robotic grasping tasks assume a stationary or fixed object. In this paper, we explore the requirements for tracking and grasping a moving object. The focus of our work is to achieve a high level of interaction between a real-time vision system capable of tracking moving objects in 3-D and a robot arm with gripper that can be used to pick up a moving object. There is an interest in explorin...

Grasping of a moving object with a robotic hand-eye system

Most robotic grasping tasks assume a stationary or xed object. In this paper, we explore the requirements for tracking and grasping a moving object. The focus of our work is to achieve a high level of interaction between a real-time vision system capable of tracking moving objects in 3-D and a robot arm equipped with a dexterous hand that can be used pick up a moving object. We are interested i...

Monocular 3-D Visual Tracking of a Moving Target by an Eye-in-Hand Robotic System

Hand-eye Coordination for Grasping Moving Objects

Most robotic grasping tasks assume a stationary or fixed object. In this paper, we explore the requirements for grasping a moving object. This task requires proper coordination between at least 3 separate subsystems: dynamic vision sensing, real-time arm control, and grasp control. As with humans, our system first visually tracks the object's 3-D position. Because the object is in motion, this ...

SmartView: Hand-Eye Robotic Ca ibration for Active Viewpoint Generation and Object Grasping

Viewpoint calibration is a method to manipulate hand-eye for generating calibration parameters for active viewpoint control and object grasping. In robot vision applications, accurate vision sensor calibration and robust vision-based robot motion control are essential for developing an intelligent and autonomous robotic system. This paper presents a new approach to hand-eye robotic calibration ...