GEOMETRIC ADVANCED TECHNIQUES FOR ROBOT GRASPING USING STEREOSCOPIC VISION

Julio Zamora-Esquivel, Eduardo Bayro-Corrochano

Abstract

In this paper the authors propose geometric techniques to deal with the problem of grasping objects relying on their mathematical models. For that we use the geometric algebra framework to formulate the kinematics of a three finger robotic hand. Our main objective is by formulating a kinematic control law to close the loop between perception and actions. This allows us to perform a smooth visually guided object grasping action.

References

  1. Bayro-Corrochano, E. and Kahler, D. (2000). Motor algebra approach for computing the kinematics of robot manipulators. In Journal of Robotic Systems. 17(9):495- 516.
  2. Ch Borst, M. F. and Hirzinger, G. (1999). A fast and robust grasp planner for arbitrary 3d objects. In ICRA99, International Conference on Robotics and Automation. pages 1890-1896.
  3. H. Li, D. Hestenes, A. R. (2001). Generalized Homogeneous coordinates for computational geometry. pages 27-52, in ((Somer, 2001)).
  4. Hartley and Zisserman, A. (2000). Multiple View Geometry in Computer Vision. Cambridge University Press, UK, 1st edition.
  5. Ruf, A. (2000). Closing the loop between articulated motion and stereo vision: a projective approach. In PhD. Thesis, INP, GRENOBLE.
  6. Somer, G. (2001). Geometric Computing with Clifford Algebras. Springer-Verlag, Heidelberg, 2nd edition.
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Paper Citation


in Harvard Style

Zamora-Esquivel J. and Bayro-Corrochano E. (2007). GEOMETRIC ADVANCED TECHNIQUES FOR ROBOT GRASPING USING STEREOSCOPIC VISION . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-972-8865-83-2, pages 175-182. DOI: 10.5220/0001627701750182


in Bibtex Style

@conference{icinco07,
author={Julio Zamora-Esquivel and Eduardo Bayro-Corrochano},
title={GEOMETRIC ADVANCED TECHNIQUES FOR ROBOT GRASPING USING STEREOSCOPIC VISION},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2007},
pages={175-182},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001627701750182},
isbn={978-972-8865-83-2},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - GEOMETRIC ADVANCED TECHNIQUES FOR ROBOT GRASPING USING STEREOSCOPIC VISION
SN - 978-972-8865-83-2
AU - Zamora-Esquivel J.
AU - Bayro-Corrochano E.
PY - 2007
SP - 175
EP - 182
DO - 10.5220/0001627701750182