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Authors: Madjid Boudaba 1 ; Nicolas Gorges 2 ; Heinz Woern 2 and Alicia Casals 3

Affiliations: 1 TES Electonic Solution GmbH, Germany ; 2 Institute of Process Control and Robotics, University of Karlsruhe, Germany ; 3 GRINS: Research Group on Intelligent Robots and Systems, Technical University of Catalonia, Spain

Keyword(s): Stereo vision, Tactile sensors, Grasp planning, Features matching.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robot Design, Development and Control ; Robotics and Automation

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.

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Paper citation in several formats:
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; ISSN 2184-2809, SciTePress, pages 214-221. DOI: 10.5220/0001492902140221

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

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
IS - 2184-2809
AU - Boudaba, M.
AU - Gorges, N.
AU - Woern, H.
AU - Casals, A.
PY - 2008
SP - 214
EP - 221
DO - 10.5220/0001492902140221
PB - SciTePress