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An integrated approach to achieve dextrous grasping from task level specification

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3 Author(s)
C. Bard ; LIFIA & INRI, Grenoble, France ; C. Laugier ; C. Milesi-Bellier

This paper deals with the automation of dextrous grasping in a partly known environment using a stereo vision system and a multifingered hand mounted on a robot arm. Effective grasping requires a combination of sensing and planning capabilities. We propose an integrated approach that combines computer vision, path planning, and manipulator control in three complementary activities: the reconstruction of task-oriented models of the workspace, the determination of appropriate grasping configurations from computed `preshapes' of the hand, and the automatic generation and execution of hand/arm motions using a hybrid geometric path planner and a hybrid control system. This paper outlines the architecture of our system, discusses the techniques we have developed on grasp planning, and finishes with a brief description of work-in-progress on the implementation and some preliminary experimental results

Published in:

Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on  (Volume:2 )

Date of Conference:

12-16 Sep 1994