Shape Description and Grasping for Robot Hand-Eye Coordination

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

Research output: Contribution to journalArticlepeer-review

12 Scopus citations


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 languageEnglish (US)
Pages (from-to)22-29
Number of pages8
JournalIEEE Control Systems Magazine
Issue number2
StatePublished - Feb 1989
Externally publishedYes

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Electrical and Electronic Engineering


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