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Robot Stereo-hand Coordination for Grasping Curved Parts

Yves Dufournaud 1 Radu Horaud 1 Long Quan 1 
1 MOVI - Modeling, localization, recognition and interpretation in computer vision
GRAVIR - IMAG - Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble, 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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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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