NDLI: Vision-guided robotic grasping: issues and experiments

Content Provider	IEEE Xplore Digital Library
Author	Smith, C.E. Papanikolopoulos, N.P.
Copyright Year	1996
Description	Author affiliation: Artificial Intelligence, Robotics & Vision Lab., Minnesota Univ., Minneapolis, MN, USA (Smith, C.E.; Papanikolopoulos, N.P.)
Abstract	Many researchers have turned to sensing, and in particular computer vision, to create more flexible robotic systems. Computer vision is often required to provide data for the grasping of a target. Using a vision system for grasping presents several issues with respect to sensing, control, and system configuration. This paper presents some of these issues in concert with the options available to the researcher and the trade-offs to be expected when integrating a vision system with a robotic system for the purpose of grasping objects. The paper includes experimental results from a particular configuration that characterize the type and frequency of errors encountered while performing various vision-guided grasping tasks. These error classes and their frequency of occurrence lend insight into the problems encountered during visual grasping and into the possible solution of these problems.
Starting Page	3203
Ending Page	3208
File Size	622922
Page Count	6
File Format	PDF
ISBN	0780329880
ISSN	10504729
DOI	10.1109/ROBOT.1996.509200
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1996-04-22
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot vision systems Robot sensing systems Control systems Robot kinematics Intelligent robots Computer vision Machine vision Frequency Sensor systems Cameras
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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