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R. Carloni, G. Recatalá, C. Melchiorri, P. Sanz, E. Cervera
"Homography-Based Grasp Tracking for Planar Objects"
 
Type Conference
Author(s) R. Carloni, G. Recatalá, C. Melchiorri, P. Sanz, E. Cervera
Title Homography-Based Grasp Tracking for Planar Objects
Editor IEEE 2004 International Conference on Robotics and Automation (ICRA 2004), New Orleans, LA, Apr. 26-Mag. 1, 2004
Keywords robot grasping, visual tracking, homography
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 paper 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.
Document 8053.Document.pdf (286577 bytes)
Year 2004


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