Visually guided object grasping
نویسندگان
چکیده
منابع مشابه
Visually guided object grasping
{ In this paper we describe a method for aligning a robot gripper | or any other end eeector | with an object. An example of such a gripper/object alignment is grasping. The task consists of, rst computing an alignment condition, and second servoing the robot such that it moves and reaches the desired position. A single camera is used to provide the visual feedback necessary to estimate the loc...
متن کاملVisually Guided Object Grasping - Robotics and Automation, IEEE Transactions on
In this paper, we present a visual servoing approach to the problem of object grasping and more generally, to the problem of aligning an end-effector with an object. First we extend the method proposed in [1] to the case of a camera which is not mounted onto the robot being controlled and we stress the importance of the real-time estimation of the image Jacobian. Second, we show how to represen...
متن کاملThe cortical control of visually guided grasping.
People have always been fascinated by the exquisite precision and flexibility of the human hand. When hand meets object, we confront the overlapping worlds of sensorimotor and cognitive functions. The complex apparatus of the human hand is used to reach for objects, grasp and lift them, manipulate them, and use them to act on other objects. This review examines what is known about the control o...
متن کاملVisually guided grasping in unstructured environments
We present simple and robust algorithms which use uncalibrated stereo vision to enable a robot manipulator to locate, reach and grasp unmodelled objects in unstructured environments. In the rst stage, an operator indicates the object to be grasped by simply pointing at it. Next, the vision system segments the indicated object from the background, and plans a suitable grasp strategy. Finally, th...
متن کاملParieto-frontal connectivity during visually guided grasping.
Grasping an object requires processing visuospatial information about the extrinsic features (spatial location) and intrinsic features (size, shape, orientation) of the object. Accordingly, manual prehension has been subdivided into a reach component, guiding the hand toward the object on the basis of its extrinsic features, and a grasp component, preshaping the fingers around the center of mas...
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ژورنال
عنوان ژورنال: IEEE Transactions on Robotics and Automation
سال: 1998
ISSN: 1042-296X
DOI: 10.1109/70.704214