Visual Feedback and Related Problems in Computer Controlled Hand Eye Coordination

Abstract

A set of programs for precise manipulation of simple planar bounded objects, by means of visual feedback, was developed for use in the Stanford hand-eye system. The system includes a six degrees of freedom computer controlled manipulator (arm and hand) and a fully instrumented computer controlled television camera. The image of the hand and manipulated objects is acquired by the computer through the camera. The stored image is analyzed using a corner and line finding program developed for this purpose. The analysis is simplified by using all the information available about the objects and the hand, and previously measured coordination errors. Simple touch and force sensing by the arm help the determination of three dimensional positions from one view.

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Document Details

Document Type
Technical Report
Publication Date
Oct 01, 1972
Accession Number
AD0754108

Entities

People

  • Aharon Gill

Organizations

  • Stanford University

Tags

Communities of Interest

  • Advanced Electronics
  • Autonomy
  • C4I
  • Human Systems
  • Materials and Manufacturing Processes
  • Sensors

DTIC Thesaurus Topics

  • Accuracy
  • Algorithms
  • Artificial Intelligence
  • Cameras
  • Computations
  • Computer Programming
  • Computer Programs
  • Computer Science
  • Computers
  • Coordinate Systems
  • Language
  • Mathematical Models
  • Measurement
  • Reliability
  • Statistical Analysis
  • Three Dimensional
  • Two Dimensional

Fields of Study

  • Physics

Readers

  • Computer Science/Computer Engineering/Data Science/Digital Signal Processing.
  • Robotics and Automation.
  • Vision Science/Vision Psychology/Cognitive Neuroscience.