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RealTime tracking meets online grasp planning

Danica Kragic; Andrew T. Miller; Peter K. Allen

Title:
RealTime tracking meets online grasp planning
Author(s):
Kragic, Danica
Miller, Andrew T.
Allen, Peter K.
Date:
Type:
Articles
Department:
Computer Science
Permanent URL:
Book/Journal Title:
2001 ICRA: proceedings: IEEE International Conference on Robotics and Automation: May 21-26, 2001, COEX, Seoul, Korea
Publisher:
IEEE
Publisher Location:
Piscataway, N.J.
Abstract:
This paper describes a synergistic integration of a grasping simulator and a real-time visual tracking system, that work in concert to 1) find an object's pose, 2) plan grasps and movement trajectories, and 3) visually monitor task execution. Starting with a CAD model of an object to be grasped, the system can find the object's pose through vision which then synchronizes the state of the robot workcell with an online, model-based grasp planning and visualization system, we have developed called GraspIt. GraspIt can then plan a stable grasp for the object, and direct the robotic hand system to perform the grasp. It can also generate trajectories for the movement of the grasped object, which are used by the visual control system to monitor the task and compare the actual grasp and trajectory with the planned ones. We present experimental results using typical grasping tasks.
Subject(s):
Robotics
Publisher DOI:
http://dx.doi.org/10.1109/ROBOT.2001.932992
Item views:
64
Metadata:
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