1997 Articles
Integrating real-time vision and manipulation
Describes a system that integrates real-time computer vision with a sensorless gripper to provide closed-loop feedback control for grasping and manipulation tasks. Many hand-eye coordination skills can be thought of as sensory control loops, where specialized reasoning has been embodied as a feedback or control path in the loop's construction. Our framework captures the essence of these hand-eye coordination skills in simple visual control primitives, which are a key component of the software integration. The primitives use a simple visual tracking and correspondence scheme to provide real-time feedback control in the presence of imprecise camera calibrations. Experimental results are shown for the positioning task of locating, picking up and inserting a bolt into a nut under visual control. Results are also presented for the visual control of a bolt tightening task.
Subjects
Files
- 00663173.pdf application/pdf 1.43 MB Download File
Also Published In
- Title
- Proceedings of the Thirtieth Hawaii International Conference on System Sciences
- Publisher
- IEEE
- DOI
- https://doi.org/10.1109/HICSS.1997.663173
More About This Work
- Academic Units
- Computer Science
- Published Here
- November 7, 2012