DocumentCode
2802820
Title
Grasping strategies for reconstructed unknown 3D objects
Author
Grosso, E. ; Vercelli, G.
Author_Institution
Dept. of Commun., Comput. & Syst. Sci., Genoa Univ., Italy
fYear
1991
fDate
3-5 Nov 1991
Firstpage
70
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/IROS.1991.174428
Filename
174428
Link To Document