ROBOT HAND-EYE COORDINATION: SHAPE DESCRIPTION AND GRASPING.

K. Rao, G. Medioni, Huan Liu, G. A. Bekey

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Scopus citations

Abstract

The successful execution of grasps by a robot hand requires a translation of visual information into control signals to the hand which produce the desired spatial orientation and preshape for an arbitrary object. An approach to this problem based on separation of the task into two modules is presented. A vision module is used to transform an image into a volumetric shape description using generalized cones. The data structure containing this geometric information becomes an input to the grasping module, which obtains a list of feasible grasp modes and a set of control signals for the robot hand. Various features of both modules are discussed.

Original languageEnglish (US)
Title of host publicationUnknown Host Publication Title
Place of PublicationNew York, NY, USA
PublisherIEEE
Pages407-411
Number of pages5
ISBN (Print)0818608528
Publication statusPublished - 1988
Externally publishedYes

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ASJC Scopus subject areas

  • Engineering(all)

Cite this

Rao, K., Medioni, G., Liu, H., & Bekey, G. A. (1988). ROBOT HAND-EYE COORDINATION: SHAPE DESCRIPTION AND GRASPING. In Unknown Host Publication Title (pp. 407-411). New York, NY, USA: IEEE.