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Implementation of vision-based planar grasp planning

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3 Author(s)
Stanley, K. ; Innovation Centre, Nat. Res. Council, Vancouver, BC, Canada ; Wu, Q.M.J. ; Gruver, W.A.

This research describes the implementation of a vision-based algorithm that is capable of rapidly determining robotic grasp points for planar objects. A representation of the target and a quadtree expansion generate candidate grasps that are compared using a cost function. The approach returns the first acceptable grasp point at a given tree resolution. The system has an execution time on the order of seconds and it is suitable for a large number of planar or near planar objects

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Systems, Man, and Cybernetics, Part C: Applications and Reviews, IEEE Transactions on  (Volume:30 ,  Issue: 4 )