Advances in Robotics Research pp 215-226
Vision Controlled Grasping by Means of an Intelligent Robot Hand
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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