Change search
ReferencesLink to record
Permanent link

Direct link
Biologically Motivated Visual Servoing and Grasping for Real World Tasks
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0003-2965-2953
2003 (English)Conference paper (Refereed)
Abstract [en]

Hand-eye coordination involves four tasks: i) identification of the object to be manipulated, ii) ballistic arm motion to the vicinity of the object, iii) preshaping and alignment of the hand, and finally iv) manipulation or grasping of the object. Motivated by the operation of biological systems and utilizing some constraints for each of the above mentioned tasks, we are aiming at design of a robust, robotic hand-eye coordination system. Hand-eye coordination tasks we consider here are of the basic fetch-and-carry type useful for service robots operating in everyday environments. Objects to be manipulated are, for example, food items that are simple in shape (polyhedral, cylindrical) but with complex surface texture. To achieve the required robustness and flexibility, we integrate both geometric and appearance based information to solve the task at hand. We show how the research in human visuo-motor system can be facilitated to design a fully operational, visually guided object manipulation system.

Place, publisher, year, edition, pages
2003. 3417-3422 p.
National Category
Computer and Information Science
URN: urn:nbn:se:kth:diva-82414DOI: 10.1109/IROS.2003.1249684OAI: diva2:498218
International Conference on Intelligent Robots and Systems
NR 20140805Available from: 2012-02-11 Created: 2012-02-11Bibliographically approved

Open Access in DiVA

No full text

Other links

Publisher's full text

Search in DiVA

By author/editor
Kragic, Danica
By organisation
Computer Vision and Active Perception, CVAP
Computer and Information Science

Search outside of DiVA

GoogleGoogle Scholar
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Altmetric score

Total: 5 hits
ReferencesLink to record
Permanent link

Direct link