Vision-based grasp tracking for planar objects

Gabriel Recatalá*, Raffaella Carloni, Claudio Melchiorri, Pedro J. Sanz, Enric Cervera, Ángel ́ P de Pobil

*Corresponding author for this work

Research output: Contribution to journalArticleAcademicpeer-review

8 Citations (Scopus)

Abstract

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.

Original languageEnglish
Pages (from-to)844-849
Number of pages6
JournalIEEE Transactions on Systems, Man and Cybernetics Part C: Applications and Reviews
Volume38
Issue number6
DOIs
Publication statusPublished - 2008
Externally publishedYes

Keywords

  • Manipulators
  • Robot vision systems
  • Tracking

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