Visual grasp determination and tracking in 2D dynamic scenarios

Author

Recatalá, Gabriel ; Sorg, Michael ; Leupold, Jan ; Sanz, Pedro J. ; Del Pobil, Ángel P.

Author_Institution

Robotic Intelligence Lab, Univ. Jaume I, Castello, Spain

Volume

1

fYear

2002

fDate

2002

Firstpage

25

Abstract

In this paper, a strategy that combines the tracking of an object and the selected grasp on it is presented. This strategy is intended to provide enough information to a control system for executing the grasp. The tracking of the object uses the ICondensation and AARM prediction algorithms to predict the current object position and shape in the image space. Using a set of quality criteria, stable grasps are searched for on the object contour and the best one is selected. The selected grasp is tracked together with the object contour in the sequence of images.

Keywords

computer vision; edge detection; manipulator dynamics; position control; tracking; ICondensation algorithm; average ARM prediction; image space; object contour detection; object grasping; object manipulation; robotic manipulators; tracking; visual grasp determination; Cameras; Fingers; Friction; Intelligent robots; Medical robotics; Orbital robotics; Robot sensing systems; Service robots; Shape; Stability analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on

Print_ISBN

0-7803-7398-7

Type

conf

DOI

10.1109/IRDS.2002.1041356

Filename

1041356