Vision-Based Grasping Points Determination by Multifingered Hands

  • Madjid Boudaba
  • Alicia Casals
  • Dirk Osswald
  • Heinz Woern
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 25)


This paper discusses some issues for generating points of contact on object grasping by multifingered robot hands. To address these issues, we present a general algorithm based on computer vision techniques for determining grasping points through a sequence of processes: (1) object’s visual features, we apply some algorithms for extracting vertices, edges, object’s contours, (3) modeling the point of contact by a bounded polytope, (3) based on these features, the developed algorithm starts by analysing the object’s contour to generate a set of contact points that guarantee the force-closure grasps condition. Finally, we briefly describe some experiments on a humanoid robot with a stereo camera head and an anthropomorphic robot hand within the “Center of Excellence on Humanoid Robots: Learning and co-operating Systems” at the University of Karlsruhe and the Forschungszentrum Karlsruhe.


Vision system Points of contacts Force-closure Grasping Linear programmimg implementation 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Madjid Boudaba
    • 1
  • Alicia Casals
    • 2
  • Dirk Osswald
    • 3
  • Heinz Woern
    • 3
  1. 1.TES Electronic Solutions GmbHStuttgartGermany
  2. 2.Automatic Control and Computer Engineering Dpt.(ESAII)Technical University of CataloniaBarcelonaSpain
  3. 3.Institute of Process Control and Robotics (IPR)University of KarlsruheKarlsruheGermany

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