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Real-time Tracking Meets Online Grasp Planning
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0003-2965-2953
2001 (English)Conference paper (Refereed)
Abstract [en]

Describes a synergistic integration of a grasping simulator and a real-time visual tracking system, that work in concert to (1) find an object's pose, (2) plan grasps and movement trajectories, and (3) visually monitor task execution. Starting with a CAD model of an object to be grasped, the system can find the object's pose through vision which then synchronizes the state of the robot workcell with an online, model-based grasp planning and visualization system we have developed called GraspIt. GraspIt can then plan a stable grasp for the object, and direct the robotic hand system to perform the grasp. It can also generate trajectories for the movement of the grasped object, which are used by the visual control system to monitor the task and compare the actual grasp and trajectory with the planned ones. We present experimental results using typical grasping tasks.

Place, publisher, year, edition, pages
2001. 2460-2465 p.
National Category
Computer and Information Science
URN: urn:nbn:se:kth:diva-82184DOI: 10.1109/ROBOT.2001.932992OAI: diva2:498005
International Conference on Robotics and Automation
NR 20140805Available from: 2012-02-11 Created: 2012-02-11Bibliographically approved

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Kragic, Danica
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