USING STEREO VISION AND TACTILE SENSOR FEATURES - For Grasp Planning Control

Madjid Boudaba, Nicolas Gorges, Heinz Woern, Alicia Casals

Abstract

Planning the grasp positions either from vision or tactile sensors one can expect various uncertainties. This paper describes a scheme that match visual stereo and tactile data based on stereo vision and tactile sensors. For grasp planning, initially, the grasping positions are generated from stereo features, then the feedback of tactile features is used to match these positions. The result of the matching algorithm is used to control the grasping positions. The grasping process proposed is experimented with an anthropomorphic robotic system.

References

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Paper Citation


in Harvard Style

Boudaba M., Gorges N., Woern H. and Casals A. (2008). USING STEREO VISION AND TACTILE SENSOR FEATURES - For Grasp Planning Control . In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8111-31-9, pages 214-221. DOI: 10.5220/0001492902140221


in Bibtex Style

@conference{icinco08,
author={Madjid Boudaba and Nicolas Gorges and Heinz Woern and Alicia Casals},
title={USING STEREO VISION AND TACTILE SENSOR FEATURES - For Grasp Planning Control},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2008},
pages={214-221},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001492902140221},
isbn={978-989-8111-31-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - USING STEREO VISION AND TACTILE SENSOR FEATURES - For Grasp Planning Control
SN - 978-989-8111-31-9
AU - Boudaba M.
AU - Gorges N.
AU - Woern H.
AU - Casals A.
PY - 2008
SP - 214
EP - 221
DO - 10.5220/0001492902140221