Hand-eye coordination for grasping moving objects

Peter K. Allen, Billibon Yoshimi, Alexander Timcenko, Paul Michelman, Paul S. Schenker
1991 Sensor Fusion III: 3D Perception and Recognition  
Most robotic grasping tasks assume a stationary or fixed object. In this paper, we explore the requirements for grasping a moving object. This task requires proper coordination between at least 3 separate subsystems: dynamic vision sensing, real-time arm control, and grasp control. As with humans, our system first visually tracks the object's 3-D position. Because the object is in motion, this must be done in a dynamic manner to coordinate the motion of the robotic arm as it tracks the object.
more » ... he dynamic vision system is used to feed a real-time arm control algorithm that plans a trajectory. The arm control algorithm is implemented in two steps: 1) filtering and prediction, and 2) kinematic transformation computation. Once the trajectory of the object is tracked, the hand must intercept the object to actually grasp it. We present 3 different strategies for intercepting the object and results from the tracking algorithm. The imaging system performs a stereoscopic optic-flow triangulation at real-time rates. 2. The 3-D position of the moving object computed by step 1 is used to command the robotic arm to track the moving object's position 3. Once tracking is stable, the system command the arm to intercept the moving object 4. The hand is used to stably grasp the object once it is intercepted. The focus of this paper is on steps 1,3, and 4. A related paper [3] discusses step 2 in more detail. Downloaded From: http://proceedings.spiedigitallibrary.org/ on 11/12/2012 Terms of Use: http://spiedl.org/terms SPIE Vol. 1383 Sensor Fusion ill: 3-D Perception and Recognition (1990) / 177 Downloaded From: http://proceedings.spiedigitallibrary.org/ on 11/12/2012 Terms of Use: http://spiedl.org/terms SPIE Vol. 1383 Sensor Fusion Ill: 3-D Perception and Recognition (1990) / 183 Downloaded From: http://proceedings.spiedigitallibrary.org/ on 11/12/2012 Terms of Use: http://spiedl.org/terms © © © Downloaded From: http://proceedings.spiedigitallibrary.org/ on 11/12/2012 Terms of Use: http://spiedl.org/terms
doi:10.1117/12.25255 fatcat:jewtc33ghvd5tlhptgog6dn6fy