Allen Peter K. author Columbia University. Computer Science Timcenko Aleksandar author Columbia University. Computer Science Yoshimi Billibon author Columbia University. Computer Science Michelman Paul author Columbia University. Computer Science Columbia University. Computer Science originator text Articles 1991 English Most robotic grasping tasks assume a stationary or fixed object. In this paper, we explore the requirements for grasping a moving object. This task requires proper coordination between at least 3 separate subsystems: dynamic vision sensing, real-time arm control, and grasp control. As with humans, our system first visually tracks the object's 3-D position. Because the object is in motion, this must be done in a dynamic manner to coordinate the motion of the robotic arm as it tracks the object. The dynamic vision system is used to feed a real-time arm control algorithm that plans a trajectory. The arm control algorithm is implemented in two steps: 1) filtering and prediction, and 2) kinematic transformation computation. Once the trajectory of the object is tracked, the hand must intercept the object to actually grasp it. We present 3 different strategies for intercepting the object and results from the tracking algorithm. Robotics Schenker Paul S. editor Bellingham, Wash. Society of Photo-optical Instrumentation Engineers 1991 176 188 http://dx.doi.org/10.1117/12.25255 1383 0277-786X http://hdl.handle.net/10022/AC:P:15264 NNC NNC 2012-11-12 14:34:48 -0500 2012-11-12 14:42:20 -0500 9265 eng