Summary
This paper discusses some issues for generating points of contact on object grasping by multifingered robot hands. To address these issues, we present a general algorithm based on computer vision techniques for determining grasping points through a sequence of processes: (1) object’s visual features, we apply some algorithms for extracting vertices, edges, object’s contours, (3) modeling the point of contact by a bounded polytope, (3) based on these features, the developed algorithm starts by analysing the object’s contour to generate a set of contact points that guarantee the force-closure grasps condition. Finally, we briefly describe some experiments on a humanoid robot with a stereo camera head and an anthropomorphic robot hand within the “Center of Excellence on Humanoid Robots: Learning and co-operating Systems” at the University of Karlsruhe and the Forschungszentrum Karlsruhe.
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Boudaba, M., Casals, A., Osswald, D., Woern, H. (2006). Vision-Based Grasping Points Determination by Multifingered Hands. In: Corke, P., Sukkariah, S. (eds) Field and Service Robotics. Springer Tracts in Advanced Robotics, vol 25. Springer, Berlin, Heidelberg . https://doi.org/10.1007/978-3-540-33453-8_24
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DOI: https://doi.org/10.1007/978-3-540-33453-8_24
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-33452-1
Online ISBN: 978-3-540-33453-8
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