DocumentCode
2669051
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
fYear
1994
fDate
2-5 Oct 1994
Firstpage
575
Lastpage
582
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/MFI.1994.398402
Filename
398402
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