Shape Description and Grasping for Robot Hand-Eye Coordination

Kashipati Rao; Gerard Medioni; Huan Liu; George A. Bekey

doi:10.1109/37.16767

Shape Description and Grasping for Robot Hand-Eye Coordination

Kashipati Rao, Gerard Medioni, Huan Liu, George A. Bekey

Research output: Contribution to journal › Article › peer-review

12 Scopus citations

Abstract

The successful execution of grasping by a robot hand requires translation of visual information into control signals to the hand, which produce the desired spatial orientation and preshape for grasping an arbitrary object. This paper presents an approach to this problem based on separation of the task into two modules. A vision module is used to transform an image into a volumetric shape description using generalized cones. The data structure containing this geometric information becomes an input to the grasping module, which obtains a list of feasible grasping modes and a set of control signals for the robot hand. Features of both modules are discussed.

Original language	English (US)
Pages (from-to)	22-29
Number of pages	8
Journal	IEEE Control Systems Magazine
Volume	9
Issue number	2
DOIs	https://doi.org/10.1109/37.16767
State	Published - Feb 1989
Externally published	Yes

ASJC Scopus subject areas

Control and Systems Engineering
Modeling and Simulation
Electrical and Electronic Engineering

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title = "Shape Description and Grasping for Robot Hand-Eye Coordination",

abstract = "The successful execution of grasping by a robot hand requires translation of visual information into control signals to the hand, which produce the desired spatial orientation and preshape for grasping an arbitrary object. This paper presents an approach to this problem based on separation of the task into two modules. A vision module is used to transform an image into a volumetric shape description using generalized cones. The data structure containing this geometric information becomes an input to the grasping module, which obtains a list of feasible grasping modes and a set of control signals for the robot hand. Features of both modules are discussed.",

author = "Kashipati Rao and Gerard Medioni and Huan Liu and Bekey, {George A.}",

note = "Funding Information: and F33615-87-C-1436, monitored by the Air Force Wright Aeronautical Laboratories, DARPA Order 31 19, and in part by the National Institute of Health (Division of Research Resources) under Grant 1P41 RROl861.",

year = "1989",

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AU - Medioni, Gerard

AU - Liu, Huan

AU - Bekey, George A.

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Shape Description and Grasping for Robot Hand-Eye Coordination

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