A Direct Approach to Vision Guided Manipulation

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dc.contributor.authorSalganicoff, Marcos
dc.contributor.authorMetta, Giorgio
dc.contributor.authorOddera, Andrea
dc.contributor.authorSandini, Giulio
dc.date2023-05-16T23:51:45.000
dc.date.accessioned2023-05-22T19:58:05Z
dc.date.available2023-05-22T19:58:05Z
dc.date.issued1993-12-01
dc.date.submitted2006-09-13T07:26:01-07:00
dc.description.abstractThis paper describes a method for robotic manipulation that uses direct image-space calculation of optical flow information for continuous real-time control of manipulative actions. State variables derived from optical flow measurements are described. The resulting approach is advantageous since it robustifies the system to changes in optical parameters and also simplifies the implementation needed to succeed in the task execution. Two reference tasks and their corresponding experiments are described: the insertion of a pen into a "cap" (the capping experiment) and the rotational point-contact pushing of an object of unknown shape, mass and friction to a specified goal point in the image-space.
dc.description.commentsUniversity of Pennsylvania Institute for Research in Cognitive Science Technical Report No. IRCS-93-48.
dc.identifier.urihttps://repository.upenn.edu/handle/20.500.14332/37613
dc.legacy.articleid1196
dc.legacy.fulltexturlhttps://repository.upenn.edu/cgi/viewcontent.cgi?article=1196&context=ircs_reports&unstamped=1
dc.source.issue195
dc.source.journalIRCS Technical Reports Series
dc.source.statuspublished
dc.titleA Direct Approach to Vision Guided Manipulation
dc.typeReport
digcom.contributor.authorSalganicoff, Marcos
digcom.contributor.authorMetta, Giorgio
digcom.contributor.authorOddera, Andrea
digcom.contributor.authorSandini, Giulio
digcom.identifierircs_reports/195
digcom.identifier.contextkey205026
digcom.identifier.submissionpathircs_reports/195
digcom.typereport
dspace.entity.typePublication
upenn.schoolDepartmentCenterIRCS Technical Reports Series
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