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Communication Dans Un Congrès Année : 1998

Robot Stereo-hand Coordination for Grasping Curved Parts

Résumé

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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Dates et versions

inria-00590094 , version 1 (03-05-2011)

Identifiants

  • HAL Id : inria-00590094 , version 1

Citer

Yves Dufournaud, Radu Horaud, Long Quan. Robot Stereo-hand Coordination for Grasping Curved Parts. 9th British Machine Vision Conference (BMVC '98), Sep 1998, Southampton, United Kingdom. pp.760--769. ⟨inria-00590094⟩
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