Vision-based grasping system for unfamiliar planar objects

Aage Bendiksen, Greg Hager

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper describes a vision based robotic system for grasping unfamiliar planar objects with a parallel jaw gripper. The input to the grasp synthesis system consists of projected edge data from a single camera video system calibrated to a planar working surface. A simple search procedure is used to find an acceptable grasp. Our grasp analysis metric is the required squeezing force, computed using an approximation of the rigid body equilibrium conditions. The resulting analysis conditions are formulated as a linear program and solved using the simplex method. A Zebra-ZERO robot arm with a parallel-jaw gripper is used to execute the chosen grasp. In a simple test of the system, it successfully grasped and lifted 10 of 14 test objects.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherPubl by IEEE
Pages2844-2849
Number of pages6
Editionpt 4
ISBN (Print)0818653329
StatePublished - Jan 1 1994
Externally publishedYes
EventProceedings of the 1994 IEEE International Conference on Robotics and Automation - San Diego, CA, USA
Duration: May 8 1994May 13 1994

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Numberpt 4
ISSN (Print)1050-4729

Other

OtherProceedings of the 1994 IEEE International Conference on Robotics and Automation
CitySan Diego, CA, USA
Period5/8/945/13/94

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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