Vision-Based Grasp Tracking for Planar Objects

In robotics, the manipulation of a priori unknown objects involves several steps and problems that must be carefully considered and solved by proper planning and control algorithms. For example, once suitable contact points have been computed, the control system should be able to track them in the a...

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Bibliographic Details
Published in:IEEE transactions on human-machine systems 2008-11, Vol.38 (6), p.844-849
Main Authors: Recatala, G., Carloni, R., Melchiorri, C., Sanz, P.J., Cervera, E., del Pobil, A.P.
Format: Article
Language:English
Subjects:
Applied sciences
Artificial intelligence
Computation
Computer science
control theory
systems
Computer vision
Contact
Control systems
Control theory. Systems
Cybernetics
Exact sciences and technology
Grippers
Image analysis
Manipulators
Orbital robotics
Pattern recognition. Digital image processing. Computational geometry
Pixel
Robot vision systems
Robotics
Robots
Target tracking
Tracking
Tracking loops
Visual servoing
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Summary:In robotics, the manipulation of a priori unknown objects involves several steps and problems that must be carefully considered and solved by proper planning and control algorithms. For example, once suitable contact points have been computed, the control system should be able to track them in the approach phase, i.e., while the relative position/orientation of the object and the gripper of the robotic system change due to the approaching movement of the robot toward the object. This correspondence paper proposes a practical method for the tracking of grasp points in image space that is based on transferring previously computed grasp points from an initial image to subsequent ones and on the analysis of the new grasp configuration. Three different options are proposed for this transference. Experimental results show the interesting practical performance of the general procedure.
ISSN:1094-6977
2168-2291
1558-2442
2168-2305
DOI:10.1109/TSMCC.2008.2001579