Robot Stereo-hand coordination for grasping cylindric parts

Radu Horaud (1) , Yves Dufournaud (1) , Long Quan (1)

1 MOVI - Modeling, localization, recognition and interpretation in computer vision

In this paper we present an algorithm to compute a set-point (i.e. a position to be reached by robot end-effector) automatically from conic features interactively selected by an operator onto the object. We then use a visual servoing algorithm to guide the gripper to its ?nal 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.

Domaines: Synthèse d'image et réalité virtuelle [cs.GR]

Radu Horaud, Yves Dufournaud, Long Quan. Robot Stereo-hand coordination for grasping cylindric parts. European Workshop on Hazardous Robotics (HEROS '96), Nov 1996, Barcelona, Spain. ⟨inria-00590064⟩