Abstract
Most robotic hands are either sensorless or lack the ability to accurately and robustly report position and force information relating to contact. This paper 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. This system captures the essence of these hand-eye coordination skills in simple visual control primitives, which can be used to perform higher-level grasping and manipulation tasks. Experimental results are shown for two typical robotics tasks: the positioning task of locating, picking up, and inserting a bolt into a nut under visual control and the visual control of a bolt tightening task.
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© 1998 Springer-Verlag
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Yoshimi, B.H., Allen, P.K. (1998). Visual control of grasping. In: Kriegman, D.J., Hager, G.D., Morse, A.S. (eds) The confluence of vision and control. Lecture Notes in Control and Information Sciences, vol 237. Springer, London. https://doi.org/10.1007/BFb0109673
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DOI: https://doi.org/10.1007/BFb0109673
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