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Computer-Based Automation pp 387–398Cite as

Integrating Vision and Touch for Grasping of an Object

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Abstract

The aim of this paper is to present considerations that go into the design of a system that will be able to grasp a variety of objects. Grasping depends on the assumption of two properties: The shape and size of the three-dimensional object and on the task that follows after grasping; hence, our interest in the integrated approach to 3-D shape recognition. We shall present an overview of currently available and being developed algorithms for representation and recognition of three-dimensional shape of an object as perceived by visual and/or tactile sensors. For the visual sensor we assume that we have available stereo cameras or their equivalent. As the tactile sensor we use an articulated multifingered hand equipped with tactile sensory arrays as the data acquisition device. We shall present available configurations of these devices. Then we shall investigate the sensory processing, in particular, what representation schemas should be considered. We shall argue that the object-centered representation as opposed to observer-centered representation is more important for grasping. Finally, a rule based schema for the control strategies will be outlined. As examples, first some artificial geometric objects then some real laboratory objects from the blocks world will be analyzed.

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Authors and Affiliations

  1. Computer and Information Science Department, University of Pennsylvania, Philadelphia, PA, 19104, USA

    Ruzena Bajcsy

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  1. Ruzena Bajcsy
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Editor information

Editors and Affiliations

  1. Automatic Generation of Knowledge Base from Electronic Diagrams for Computer-Aided Design, Center for Information Research, University of Florida, 32611, Gainesville, Florida, USA

    Julius T. Tou

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© 1985 Plenum Press, New York

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Bajcsy, R. (1985). Integrating Vision and Touch for Grasping of an Object. In: Tou, J.T. (eds) Computer-Based Automation. Springer, Boston, MA. https://doi.org/10.1007/978-1-4684-7559-3_17

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  • DOI: https://doi.org/10.1007/978-1-4684-7559-3_17

  • Publisher Name: Springer, Boston, MA

  • Print ISBN: 978-1-4684-7561-6

  • Online ISBN: 978-1-4684-7559-3

  • eBook Packages: Springer Book Archive

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