Authors:
Madjid Boudaba
1
and
Alicia Casals
2
Affiliations:
1
Design Center, TES Electonic Solution GmbH, Germany
;
2
GRINS: Research Group on Intelligent Robots and Systems, Technical University of Catalonia, Spain
Keyword(s):
Visual image, Tactile image, Grasp planning, Block matching algorithm.
Related
Ontology
Subjects/Areas/Topics:
Computer Vision, Visualization and Computer Graphics
;
Feature Extraction
;
Features Extraction
;
Image and Video Analysis
;
Informatics in Control, Automation and Robotics
;
Robot Design, Development and Control
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
Abstract:
Finding the global shape of a grasped object directly from touch is time consuming and not highly reliable. This paper describes the relationship between visual features and grasp planning, and correlates visual and tactile information for a better description of the object’s shape and grasping points determination. The grasping process proposed is experimented with a three fingered robotic hand.