Title :
Visual control of grasping and manipulation tasks
Author :
Yoshimi, Billibon H. ; Allen, Peter K.
Author_Institution :
Dept. of Comput. Sci., Columbia Univ., New York, NY, USA
Abstract :
This paper discusses the problem of visual control of grasping. We have implemented an object tracking system that can be used to provide visual feedback for locating the positions of fingers and objects to be manipulated, as well as the relative relationships of them. This visual analysis can be used to control open loop grasping systems in a number of manipulation tasks where the finger contact, object movement, and task completion need to be monitored and controlled
Keywords :
feedback; manipulators; position control; robot vision; tracking; finger contact; grasping; manipulation tasks; object tracking system; robots; visual control; visual feedback; Control systems; Costs; Fingers; Grippers; Monitoring; Open loop systems; Robot control; Robot kinematics; Robotic assembly; Robust control;
Conference_Titel :
Multisensor Fusion and Integration for Intelligent Systems, 1994. IEEE International Conference on MFI '94.
Conference_Location :
Las Vegas, NV
Print_ISBN :
0-7803-2072-7
DOI :
10.1109/MFI.1994.398402
