Homography-based grasp tracking for planar objects


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Carloni, Raffaella and Recatala, Gabriel and Melchiorri, Claudio and Sanz, Pedro J. and Cervera, Enric (2004) Homography-based grasp tracking for planar objects. In: Proceedings of the International Conference on Robotics and Automation, 26 Apr - 01 May 2004, New Orleans, USA.

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Abstract:The visual tracking of grasp points is an essential operation for the execution of an approaching movement of a robot arm to an object: the grasp points are used as features for the definition of the control law. This work describes a strategy for tracking grasps on planar objects based on the use of a homography. In particular, the homography is used for transferring (translating) a grasp from a view of an object to a second one, providing in this way a correspondence in the second view. The grasp tracking procedure combines the search of a new grasp with the translation and the evaluation of that grasp between object views. Results of the proposed grasp tracking strategy are shown in case of grasps computed for a two-finger and a three-finger gripper.
Item Type:Conference or Workshop Item
Link to this item:http://purl.utwente.nl/publications/77504
Official URL:http://dx.doi.org/10.1109/ROBOT.2004.1307246
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