NDLI: Planar Grasping Characterization Based on Curvature-Symmetry Fusion

Content Provider	Springer Nature Link
Author	Sanz, P.J. Iñesta, J.M. Del Pobil, A.P.
Copyright Year	1999
Abstract	A new strategy is presented to simplify the real-time determination of grasping points in unknown objects from 2D images. We work with a parallel-jaw gripper and assume point contact with friction, taking into account stability conditions. This strategy is supported by a new tool that permits to establish a supervisor mechanism with the aim to seek grasping points from geometric reasoning on the contours extracted from 2D images captured by the system in execution time. This approach is named “curvature-symmetry fusion” (CSF) and its objective is to integrate curvature and symmetry knowledge in a single data structure to provide the necessary information to predict the more suitable directions used by a supervisor mechanism described below. These algorithms have been implemented on a SCARA manipulator with one end point mounted camera. Visual feedback was used in the control system and the total time for the execution is about 2 or 3 seconds in our inexpensive prototype, making real applications feasible.
Starting Page	25
Ending Page	36
Page Count	12
File Format	PDF
ISSN	0924669X
Journal	Applied Intelligence
Volume Number	10
Issue Number	1
e-ISSN	15737497
Language	English
Publisher	Kluwer Academic Publishers
Publisher Date	1999-01-01
Publisher Place	Boston
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Artificial Intelligence (incl. Robotics) Mechanical Engineering Manufacturing, Machines, Tools
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence

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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