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Sensor Based Intelligent Robots pp 74–86Cite as

Vision and Touch for Grasping

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Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 2238))

Abstract

This paper introduces our one-armed stationary humanoid robot GripSee together with research projects carried out on this platform. The major goal is to have it analyze a table scene and manipulate the objects found. Gesture-guided pick-and-place This has already been implemented for simple cases without clutter. New objects can be learned under user assistance, and first work on the imitation of grip trajectories has been completed.

Object and gesture recognition are correspondence-based and use elastic graph matching. The extension to bunch graph matching has been very fruitful for face and gesture recognition, and a similar memory organization for aspects of objects is a subject of current research.

In order to overcome visual inaccuracies during grasping we have built our own type of dynamic tactile sensor. So far they are used for dynamics that try to optimize the symmetry of the contact distribution across the gripper. With the help of those dynamics the arm can be guided on an arbitrary trajectory with negligible force.

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Author information

Authors and Affiliations

  1. Institute for Neurocomputing, Ruhr-University Bochum, Germany

    Rolf P. Würtz

Authors
  1. Rolf P. Würtz
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Editor information

Editors and Affiliations

  1. Department of Computer Science, Johns Hopkins University, Baltimore

    Gregory D. Hager

  2. Center for Autonomous Systems, CVAP, Royal Institute of Technology, Sweden

    Henrik Iskov Christensen

  3. Department of Computer Science, University of Bern, German

    Horst Bunke

  4. Institute for Computer Science I, University of Bonn, USA

    Rolf Klein

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© 2002 Springer-Verlag Berlin Heidelberg

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Würtz, R.P. (2002). Vision and Touch for Grasping. In: Hager, G.D., Christensen, H.I., Bunke, H., Klein, R. (eds) Sensor Based Intelligent Robots. Lecture Notes in Computer Science, vol 2238. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45993-6_5

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  • DOI: https://doi.org/10.1007/3-540-45993-6_5

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-43399-6

  • Online ISBN: 978-3-540-45993-4

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