Towards autonomous robotic servicing: Using an integrated hand-arm-eye system for manipulating unknown objects

被引：9

作者：

Seitz, M ^{[1
]}

机构：

[1] Darmstadt Univ Technol, Inst Control Engn, Control Syst Theory & Robot Dept, D-64283 Darmstadt, Germany

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 1999年 / 26卷 / 01期

关键词：

3D active vision; power grasp planning; closed-loop visual manipulation; hand-arm-eye coordination; system integration;

D O I：

10.1016/S0921-8890(98)00038-4

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Executing complex robotic tasks including dexterous grasping and manipulation requires a combination of dexterous robots, intelligent sensors and adequate object information processing. In this paper, vision has been integrated into a highly redundant robotic system consisting of a tiltable camera and a three-fingered dexterous gripper both mounted on a puma-type robot arm. In order to condense the image data of the robot working space acquired from the mobile camera, contour image processing is used for offline grasp and motion planning as well as for online supervision of manipulation tasks. The performance of the desired robot and object motions is controlled by a visual feedback system coordinating motions of hand, arm and eye according to the specific requirements of the respective situation. Experiences and results based on several experiments in the field of service robotics show the possibilities and limits of integrating vision and tactile sensors into a dexterous hand-arm-eye system being able to assist humans in industrial or servicing environments. (C) 1999 Elsevier Science B.V. All rights reserved.

引用

页码：23 / 42

页数：20