Theory and experiments in vision-based grasping
- 19 November 2002
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 4, 4053-4058
- https://doi.org/10.1109/cdc.1995.479240
Abstract
Flexible operation of a robotic agent requires interaction with an uncalibrated or partially calibrated environment through the use of sensing. Much of the recent work in robotics and com- puter vision has concentrated upon the active observation of dynamic targets by the robotic agent. This paper focuses on autonomous interaction with moving targets in the environment. In particular, we propose a system that performs autonomous grasping of a moving target in an uncalibrated environment. The proposed system is derived using the Controlled Active Vision framework and provides the flexibility to robustly inter- act with the environment in the presence of uncertainty. The proposed work is experimentally verified using the Minnesota Robotic Visual Tracker (MRVT) to select targets of interest, to derive estimates of unknown environmental parameters, and to supply a control vector based upon these estimates to guide the manipulator in both the tracking and the grasping of a target.Keywords
This publication has 16 references indexed in Scilit:
- Feature-based camera-guided grasping by an eye-in-hand robotPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- The Minnesota robotic visual tracker: a flexible testbed for vision-guided robotic researchPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Computation of shape through controlled active explorationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Positioning of a robot with respect to an object, tracking it and estimating its velocity by visual servoingPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Control of a robotic manipulator to grasp a moving target using visionPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Grasping of static and moving objects using a vision-based control approachPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Six degree-of-freedom hand/eye visual tracking with uncertain parametersIEEE Transactions on Robotics and Automation, 1995
- Controlled active exploration of uncalibrated environmentsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1994
- Adaptive image feature prediction and control for visual tracking with a hand-eye coordinated cameraIEEE Transactions on Systems, Man, and Cybernetics, 1990
- A computational framework and an algorithm for the measurement of visual motionInternational Journal of Computer Vision, 1989