Robotic grasping of unknown objects: A knowledge-based approach

Conference · Thu Nov 01 00:00:00 EST 1990

OSTI ID:714959

Stansfield, S A ^[1]

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1. Sandia National Labs., Albuquerque, NM (United States)

In this paper, the authors demonstrate a general-purpose robotic grasping system for use in unstructured environments. Using computer vision and a compact set of heuristics, the system automatically generates the robot arm and hand motions required for grasping an unmodeled object. The utility of such a system is most evident in environments where the robot will have to grasp and manipulate a variety of unknown objects, but where many of the manipulation tasks may be relatively simple. Examples of such domains are planetary exploration and astronaut assistance, undersea salvage and rescue, and nuclear waste site clean-up. This work implements a two-stage model of grasping: stage one is an orientation of the hand and wrist and a ballistic reach toward the object; stage two is hand preshaping and adjustment. Visual features are first extracted from the unmodeled object. These features and their relations are used by an expert system to generate a set of valid reach/grasps for the object. These grasps are then used in driving the robot hand and arm to bring the fingers into contact with the object in the desired configuration. Experimental results are presented to illustrate the functioning of the system.

• Research Organization: General Electric Co., Largo, FL (United States). Neutron Devices Dept.
• DOE Contract Number: AC04-76DP00656
• OSTI ID: 714959
• Report Number(s): GEPP-CP-1222; CONF-9004263-; ON: TI91020218; TRN: JT9237%%18
• Resource Relation: Conference: 4. annual SUBWOG-F robotics,Albuquerque, NM (United States),24-26 Apr 1990; Other Information: PBD: Nov 1990; Related Information: Is Part Of JOWOG 39 manufacturing technology, Fourth annual SUBWOG-F robotics meeting minutes; PB: 206 p.
• Country of Publication: United States
• Language: English

Related Subjects

05
42 ENGINEERING
99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE
MANIPULATORS
CONTROL
MATERIALS HANDLING EQUIPMENT
RADIOACTIVE WASTE FACILITIES
AUTOMATION
RESCUE OPERATIONS
ARMS
ARTIFICIAL INTELLIGENCE
ASTRONAUTS
EXPERT SYSTEMS
EXPLORATION
HANDS
IMAGE PROCESSING
KNOWLEDGE BASE
MATHEMATICAL MODELS
NAVIGATION
PLANETS
RADIOACTIVE WASTE PROCESSING
ROBOTS
TRAJECTORIES