Title :
Grasping strategies for reconstructed unknown 3D objects
Author :
Grosso, E. ; Vercelli, G.
Author_Institution :
Dept. of Commun., Comput. & Syst. Sci., Genoa Univ., Italy
Abstract :
The authors describes an approach to the visuo-motor coordination of the grasping problem. A vision system is used to provide a spatial description of the scene. The volumetric information is reduced by merging the voxels into an octree representation. At the end of the reconstruction process, this kind of `essential´ information can be used to choose the right pre-shaping and to coordinate the arm and the hand motion towards the pre-shaping position, in order to realize a stable grasp. Some preliminary results are shown
Keywords :
computerised pattern recognition; computerised picture processing; planning (artificial intelligence); robots; grasping strategies; octree; pre-shaping; spatial description; unknown 3D objects; vision system; visuo-motor coordination; volumetric information; voxels; Data mining; Grasping; Laboratories; Layout; Machine vision; Merging; Orbital robotics; Robot kinematics; Shape; Solid modeling;
Conference_Titel :
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-0067-X
DOI :
10.1109/IROS.1991.174428
