Computer Vision, Graphics, and Image Processing
Constructing force-closure grasps
International Journal of Robotics Research
International Journal of Robotics Research
Representations of commonsense knowledge
Representations of commonsense knowledge
Digital image processing (2nd ed.)
Digital image processing (2nd ed.)
Symmetry from shape and shape from symmetry
International Journal of Robotics Research - Special issue on integration among planning, sensing, and control
A symmetry theory of planar grasp
International Journal of Robotics Research - Special issue on integration among planning, sensing, and control
Symmetry as a Continuous Feature
IEEE Transactions on Pattern Analysis and Machine Intelligence
The UJI Online Robot: An Education and Training Experience
Autonomous Robots
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A new strategy is presented to simplify the real-timedetermination of grasping points in unknown objects from 2D images.We work with a parallel-jaw gripper and assume point contact withfriction, taking into account stability conditions. This strategy issupported by a new tool that permits to establish a supervisormechanism with the aim to seek grasping points from geometricreasoning on the contours extracted from 2D images captured by thesystem in execution time. This approach is named “curvature-symmetryfusion” (CSF) and its objective is to integrate curvature andsymmetry knowledge in a single data structure to provide thenecessary information to predict the more suitable directions used bya supervisor mechanism described below. These algorithms have beenimplemented on a SCARA manipulator with one end point mounted camera.Visual feedback was used in the control system and the total time forthe execution is about 2 or 3 seconds in our inexpensive prototype,making real applications feasible.