Vision-guided grasping for real-world applications
- P.J. Sanz 1
- A.P. del Pobil 1
- J.M. Iñesta 1
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1
Universitat Jaume I
info
- Botti, Vicent (coord.)
Verlag: Vicent Botti ; Asociación Española para la Inteligencia Artificial (AEPIA)
ISBN: 978-84-8498-765-9, 84-8498-765-5
Datum der Publikation: 1997
Seiten: 653-663
Kongress: Conferencia de la Asociación Española para la Inteligencia Artificial. (7. 1997. null)
Art: Konferenz-Beitrag
Zusammenfassung
We present an integrated system for vision-guided grasping in the real world. By using very limited resources -a satate-of-the-art PC and a robot-mounted camera- an inexpensive robot arm stably grasps unknown planar objects in real time by using visual perception and a standard parallel-jaw gripper. In a simple, yet powerful fashion our system integrates computer vision, grasping and vision-guided control. Novel techniques are presented to solve the involved problems under the imposed resource constraints: namely, for information reduction in image processing, strategies for grasp determination and vision-guided control for grasp execution. Particularly, a novel technique called " curvature-symmetry fusion" is used to help in efficient grasp determination. The system provides the user with a quantitative measure of the degree of stability of the planned grasp. Experimental results are provided and its many potential applications, such as service of medical, are discussed. The imposed resource constraints makes it suitable for short-term applications in the real world.