Robot Stereo-hand Coordination for Grasping Curved Parts

In this paper we present an algorithm to compute set-point (i.e. a position to be reached by the robot) automatically from conic features virtually placed by an operator onto the object. We then use a visual servoing algorithm to guide the gripper to its final position. We have tested this algorithm in trying to open a valve with a 6 degree of freedom robot arm, using only visual information and without any model of the valve.

• Type: Conference
• Year: 1998
• Where: BMVC
• Authors: Yves Dufournaud, Radu Horaud, Long Quan
• Keywords: BMVC 1998, Computer Vision, Final Position, Freedom Robot Arm, Visual Servoing Algorithm