Vision-Based Planning and Execution of Precision Grasps.

Abstract

In this paper we present a system for vision-based planning and execution of fingertip grasps using a four-fingered dextrous hand. Our system does not rely on prior models of the objects to be grasped; it obtains all the information it needs from vision and from tactile sensors located at the fingertips of the hand. The grasp planner is based on a genetic algorithm modified to allow the use of real numbers as the basic representation unit. The grasp executer is based on differential visual feedback, which allows the system to specify goals and monitor progress in image space without needing absolute calibration between the camera and the hand. We present experimental results showing the application of the system to grasping unknown objects with the Utah/MIT hand. (AN)

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Document Details

Document Type
Technical Report
Publication Date
Dec 01, 1994
Accession Number
ADA289866

Entities

People

  • Hilcea F. Marengoni
  • Olac Fuentes
  • Randal C. Nelson

Organizations

  • University of Rochester

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Algorithms
  • Applied Mathematics
  • Artificial Intelligence
  • Automata Theory
  • Computer Science
  • Computers
  • Control Systems
  • Equations
  • Genetic Algorithms
  • Image Processing
  • Information Systems
  • Mechanical Engineering
  • Motion Planning
  • Numbers
  • Robots
  • Three Dimensional
  • Two Dimensional

Fields of Study

  • Computer science

Readers

  • Computer Vision.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Bayesian Inference
  • Biotechnology
  • Space
  • Space - Space Objects