Vision Controlled Grasping by Means of an Intelligent Robot Hand

被引：1
|
作者：
Milighetti, Giulio [1 ]
Ritter, Moritz [1 ]
Kuntze, Helge-Bjoern [1 ]
机构：
[1] Fraunhofer Inst Informat & Data Proc, D-76131 Karlsruhe, Germany
来源：
ADVANCES IN ROBOTICS RESEARCH | 2009年
关键词：
D O I：
10.1007/978-3-642-01213-6_20
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this paper a new visual servoing concept for dynamic grasping for humanoid robots will be presented. It relies on a stereo camera in the robot head for wide range observing in combination with a miniaturized close range camera integrated in a five finger hand. By optimal fusion of both camera information using a fuzzy decision making algorithm a robust visually controlled grasping of objects is achieved even in the case of disturbed signals or dynamic obstacles.
引用
收藏
页码：215 / 226
页数：12
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