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 - 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.
Type de document :
Communication dans un congrès
John N. Carter and Mark S. Nixon. 9th British Machine Vision Conference (BMVC '98), Sep 1998, Southampton, United Kingdom. British Machine Vision Association, 2, pp.760--769, 1998, 〈http://www.bmva.org/bmvc/1998/pdf/p078.pdf〉
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Yves Dufournaud, Radu Horaud, Long Quan. Robot Stereo-hand Coordination for Grasping Curved Parts. John N. Carter and Mark S. Nixon. 9th British Machine Vision Conference (BMVC '98), Sep 1998, Southampton, United Kingdom. British Machine Vision Association, 2, pp.760--769, 1998, 〈http://www.bmva.org/bmvc/1998/pdf/p078.pdf〉. 〈inria-00590094〉

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