Visually guided stable grasping with a multifingered robot hand: a behavior-based approach

Thomas G. Murphy; Damian M. Lyons; Antonius J. Hendriks

doi:10.1117/12.150204

6 August 1993 Visually guided stable grasping with a multifingered robot hand: a behavior-based approach

Thomas G. Murphy, Damian M. Lyons, Antonius J. Hendriks

Proceedings Volume 2056, Intelligent Robots and Computer Vision XII: Active Vision and 3D Methods; (1993) https://doi.org/10.1117/12.150204
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States

Abstract

This paper presents our design approach and implementation of a grasp strategy that selects robot finger contact locations based on direct sensory information. The overall design consists of a reactive component coupled with a deliberative component. The reactive component, called the Grasp Reactor, uses direct measurements to produce appropriate actions for the environmental situation present. The deliberative component, called the Grasp Advisor, communicates global constraints to the Grasp Reactor to improve its decision making capability. This paper concentrates on the reactive component and on understanding how it can be helped by the deliberative component. Executing within the Grasp Reactor, our grasp strategy uses a hill-climbing technique to select stable contact locations on the object; 2-D visual information about the object is used to make this selection. This visual information is continually extracted from the environment as the gripper approaches the object. The novelty of this approach is that the strategy controls the robot system, not only to preposition the gripper, but also to simplify the processing of visual information received for grasp synthesis. We have implemented this strategy using a Philips Multi-Functional Gripper and performed experimental runs to observe the strategy's real-world performance.

Citation Download Citation

Thomas G. Murphy, Damian M. Lyons, and Antonius J. Hendriks "Visually guided stable grasping with a multifingered robot hand: a behavior-based approach", Proc. SPIE 2056, Intelligent Robots and Computer Vision XII: Active Vision and 3D Methods, (6 August 1993); https://doi.org/10.1117/12.150204

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