Computing Contact Stability Grasps of Unknown Objects by Means of Vision
نویسنده
چکیده
A novel approach is presented to computing all possible grips with “contact stability” on unknown objects by means of visual parameters as input. This approach extends a previous one that obtains grips under more restrictive stability conditions. The complete application of all this grasping information is out of the scope of this paper, because requires a high level decision by means of a task-planner with knowledge of a specific task in a certain context. An endeffector mounted camera provides the robot with 2D images of the object so that it can manipulate the object using a parallel-jaw gripper. The approach has been implemented, and experimental results are provided showing the reliability and the required computational effort.
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تاریخ انتشار 2004