Abstract
In this paper a visual module is proposed as a part of a visuo-motor system, implemented on an anthropomorphic robotic platform. This platform is composed by a robotic arm with a human-like hand, and a robotic stereo head to provide visual information. The platform is able to reproduce a human hand-posture in the robotic human-like hand. The vision algorithm provides information about positioning, orientation and posture to the robotic hand. This is done in non-structured environments, in which illumination and workspace distribution can arbitrarily change. The recognition module is inspired in the Elastic Graph Matching algorithm. The main improvement of the proposed application is the ability to cope with affine transformations of the image, that is, with rotated, translated and scaled hand-postures, without the extensive use of comparisons.
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© 2006 Springer-Verlag Berlin Heidelberg
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García, D., Pinzolas, M., Coronado, J.L., Martínez, P. (2006). An Application of the AIGM Algorithm to Hand-Posture Recognition in Manipulation. In: Tokhi, M.O., Virk, G.S., Hossain, M.A. (eds) Climbing and Walking Robots. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-26415-9_118
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DOI: https://doi.org/10.1007/3-540-26415-9_118
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-26413-2
Online ISBN: 978-3-540-26415-6
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