- Sanz Pedro J, Iñesta José M, Del Pobil Angel P.
"Planar Grasping Characteriztion by means of Curvature-Symmetry Fusion"
Applied Intelligence, vol. 10, pp. 25-36
A new strategy is presented to simplify the real time determination of grasping
points in unknown objects from 2D images. We work with a parallel-jaw gripper
and assume point contact with friction, taking into account stability
conditions. This strategy is supported by a new tool that permits to establish
a supervisor mechanism with the aim to seek grasping points from geometric
reasoning on the contours extracted from 2D images captured by the system in
execution time. This approach is named "curvature-symmetry fusion" (CSF) and
its objective is to integrate curvature and symmetry knowledge in a single
data structure to provide the necessary information to predict the more
suitable directions used by a supervisor mechanism described below. These
algorithms have been implemented on a SCARA manipulator with one end point
mounted camera. Visual feedback was used in the control system and the total
time for the execution is about 2 or 3 seconds in our inexpensive prototype,
making real applications feasible.
author = "Sanz Pedro J, Iñesta José M, Del Pobil Angel P.",
title = "Planar Grasping Characteriztion by means of Curvature-Symmetry Fusion",
journal = "Applied Intelligence",
pages = "25-36",
volume = "10",
year = "1999"