DocumentCode :
2720619
Title :
Polyhedral convex cones for computing feasible grasping regions from vision
Author :
Boudaba, Madjid ; Casals, Alícia
Author_Institution :
TES Electron. Solution GmbH, Stuttgart, Germany
fYear :
2005
fDate :
27-30 June 2005
Firstpage :
607
Lastpage :
613
Abstract :
This paper presents a method to compute a feasible region for grasping unknown objects using visual features. The method is divided into two separate sections: candidates grasp generation and testing of the feasible region of grasping by constructing a set of constraints for each candidate grasps. From visual features, the algorithm examines at least one possible candidate grasp region around the object´s boundary for each available finger and selects the optimal grasping points on it, relative to some criteria for optimality. An experimental environment was developed to test this method.
Keywords :
computational geometry; robot vision; candidates grasp generation; feasible grasping regions; grasp points generation; polyhedral convex cones; visual features; Computational geometry; Computer vision; Fingers; Force sensors; Grasping; Mathematical model; Robots; Stability analysis; Tactile sensors; Testing; Convex polyhedral cones; Feasible grasping Region of Grasp; Grasp points Generation; Visual Features;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Computational Intelligence in Robotics and Automation, 2005. CIRA 2005. Proceedings. 2005 IEEE International Symposium on
Print_ISBN :
0-7803-9355-4
Type :
conf
DOI :
10.1109/CIRA.2005.1554343
Filename :
1554343
Link To Document :
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