Robot Stereo-hand coordination for grasping cylindric parts

Radu Horaud 1 Yves Dufournaud 1 Long Quan 1
1 MOVI - Modeling, localization, recognition and interpretation in computer vision
GRAVIR - IMAG - Graphisme, Vision et Robotique, Inria Grenoble - Rhône-Alpes, CNRS - Centre National de la Recherche Scientifique : FR71
Abstract : In this paper we present an algorithm to compute a set-point (i.e. a position to be reached by robot end-effector) automatically from conic features interactively selected by an operator onto the object. We then use a visual servoing algorithm to guide the gripper to its ?nal position. We have tested this algorithm in trying to open a valve with a 6 degree of freedom robot arm, using only visual information and without any model of the valve.
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https://hal.inria.fr/inria-00590064
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Radu Horaud, Yves Dufournaud, Long Quan. Robot Stereo-hand coordination for grasping cylindric parts. European Workshop on Hazardous Robotics (HEROS '96), Nov 1996, Barcelona, Spain. ⟨inria-00590064⟩

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