GEOMETRIC ADVANCED TECHNIQUES FOR ROBOT GRASPING USING STEREOSCOPIC VISION

Julio Zamora-Esquivel; Eduardo Bayro-Corrochano

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Paper

GEOMETRIC ADVANCED TECHNIQUES FOR ROBOT GRASPING USING STEREOSCOPIC VISION

Topics: Image Processing; Robot Design, Development and Control; Virtual Reality; Vision, Recognition and Reconstruction

In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, 175-182, 2007 , Angers, France

Authors: Julio Zamora-Esquivel and Eduardo Bayro-Corrochano

Affiliation: CINVESTAV, Mexico

Keyword(s): Conformal Geometry, Kinematics, Grasping, Tracking.

Related Ontology Subjects/Areas/Topics: Image Processing ; Informatics in Control, Automation and Robotics ; Robot Design, Development and Control ; Robotics and Automation ; Virtual Environment, Virtual and Augmented Reality ; Vision, Recognition and Reconstruction

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.

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Paper citation in several formats:

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; ISSN 2184-2809, SciTePress, pages 175-182. DOI: 10.5220/0001627701750182

@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},
issn={2184-2809},
}

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
IS - 2184-2809
AU - Zamora-Esquivel, J.
AU - Bayro-Corrochano, E.
PY - 2007
SP - 175
EP - 182
DO - 10.5220/0001627701750182
PB - SciTePress