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Visual Checking of Grasping Positions of a Three-Fingered Robot Hand

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Artificial Neural Networks — ICANN 2001 (ICANN 2001)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 2130))

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Abstract

We present a computer vision system for judgement on the success or failure of a grasping action carried out by a three-fingered robot hand. After an object has been grasped from a table, an image is captured by a hand camera that can see both the object and the fingertips. The difficulty in the evaluation is that not only identity and position of the objects have to be recognized but also a qualitative judgement on the stability of the grasp has to be made. This is achieved by defining sets of prototypic “grasping situations” individually for the objects.

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Author information

Authors and Affiliations

  1. AG Neuroinformatik, Universität Bielefeld, Germany

    Gunther Heidemann & Helge Ritter

Authors
  1. Gunther Heidemann
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  2. Helge Ritter
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Editor information

Editors and Affiliations

  1. Dept. of Mecidal Cybernetics and Artificial Intelligence, University of Vienna, Freyung 6/2, 1010, Vienna, Austria

    Georg Dorffner

  2. Institute for Computer Aided Automation Pattern Recognition and Image Processing Group, Technical University of Vienna, Favoritenstr. 9/1832, 1040, Vienna, Austria

    Horst Bischof

  3. Institut für Statistik, Wirtschaftsuniversität Wien, Augasse 2-6, 1090, Wien, Austria

    Kurt Hornik

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© 2001 Springer-Verlag Berlin Heidelberg

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Heidemann, G., Ritter, H. (2001). Visual Checking of Grasping Positions of a Three-Fingered Robot Hand. In: Dorffner, G., Bischof, H., Hornik, K. (eds) Artificial Neural Networks — ICANN 2001. ICANN 2001. Lecture Notes in Computer Science, vol 2130. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-44668-0_123

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  • DOI: https://doi.org/10.1007/3-540-44668-0_123

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-42486-4

  • Online ISBN: 978-3-540-44668-2

  • eBook Packages: Springer Book Archive

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