A sensory robotic grasping system for object recognition and shape recovery

Author

Jiar, Yunde ; Wu, Xiaoping ; Zhao, Zhanfang ; Li, Kejie

Author_Institution

Dept. of Mechno-Electron. Eng., Beijing Inst. of Technol., China

fYear

1994

fDate

5-9 Dec 1994

Firstpage

333

Lastpage

337

Abstract

Describes a sensory robotic grasping system which is composed of an ADEPT robot, a servo gripper system, an image grabbing and processing system, a microcomputer and an optical soft rubber tactile sensing system. The system can stably grasp and effectively recognize machine parts as well as breaking objects, such as eggs, fragile glass containers, etc. The authors also present the object recognition and model-based shape recovery using two groups of tactile image sequences acquired from the two tactile sensors while the sensory gripper grasps objects. The algorithms have been implemented and tested on actual data obtained using this sensory robotic grasping system

Keywords

image sequences; manipulators; object recognition; tactile sensors; ADEPT robot; breaking objects; image grabbing and processing system; machine parts; model-based shape recovery; object recognition; optical soft rubber tactile sensing system; sensory gripper; sensory robotic grasping system; servo gripper system; tactile image sequences; tactile sensors; Containers; Glass; Grippers; Microcomputers; Object recognition; Optical sensors; Robot sensing systems; Rubber; Servomechanisms; Shape;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Technology, 1994., Proceedings of the IEEE International Conference on

Conference_Location

Guangzhou

Print_ISBN

0-7803-1978-8

Type

conf

DOI

10.1109/ICIT.1994.467100

Filename

467100