Vision Controlled Grasping by Means of an Intelligent Robot Hand

  • Giulio Milighetti
  • Moritz Ritter
  • Helge-Björn Kuntze

Abstract

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.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • Giulio Milighetti
    • 1
  • Moritz Ritter
    • 1
  • Helge-Björn Kuntze
    • 1
  1. 1.Fraunhofer-Institute for Information and Data Processing (IITB)KarlsruheGermany

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