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Vision controlled grasping by means of an intelligent robot hand

: Milighetti, G.; Ritter, M.; Kuntze, H.-B.

Preprint urn:nbn:de:0011-n-1037531 (1.6 MByte PDF)
MD5 Fingerprint: 9faf44c2f5101594749b18fc1455f185
The original publication is available at
Created on: 29.3.2011

Kröger, T. ; Deutsche Gesellschaft für Robotik:
Advances in robotics research. Theory, implementation, application : Collection of scientific papers presented at the German Workshop on Robotics; At the Technische Universität Carolo-Wilhelmina zu Braunschweig on June 9 - 10, 2009
Berlin: Springer, 2009
ISBN: 978-3-642-01212-9
ISBN: 978-3-642-01213-6
German Workshop on Robotics <2009, Braunschweig>
Conference Paper, Electronic Publication
Fraunhofer IITB ( IOSB) ()

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.