Title :
Preshaped visual grasp of unknown objects with a multi-fingered hand
Author :
Lippiello, Vincenzo ; Ruggiero, Fabio ; Siciliano, Bruno ; Villani, Luigi
Author_Institution :
PRISMA Lab., Univ. degli Studi di Napoli Federico II, Naples, Italy
Abstract :
In this paper a method for fast visual grasp of unknown objects with a multi-fingered hand is presented. The algorithm is composed of an object surface reconstruction algorithm and a local grasp planner, evolving in parallel. The former uses an elastic reconstruction surface, whose dimensions are assigned initially by a preshaping process, and which shrinks toward the object until some parts of the surface intercept the object visual hull. The latter moves the fingertips on the current available reconstruction surface towards points which are optimal (in a local sense) with respect to a certain number of indices weighting both the grasp quality and the kinematic configuration of the hand. Experiments are presented, showing the effectiveness of the proposed algorithm.
Keywords :
dexterous manipulators; image reconstruction; manipulator kinematics; robot vision; elastic reconstruction surface; multifingered hand; object surface reconstruction algorithm; unknown objects visual grasp;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on
Conference_Location :
Taipei
Print_ISBN :
978-1-4244-6674-0
DOI :
10.1109/IROS.2010.5650680