F. Gandolfo, G. Sandini, and M. Tistarelli. Towards vision guided manipulation. In Proc. Intl. Conf. Advanced Robotics, pages 661--667, Pisa, Italy, June 1991.  Home/Search   Document Not in Database   Summary   Related Articles   Check

....robotic backhoe for excavation, Bernold, 1993] estimated soil properties from cutting forces and moments. Employing tactile sensors and kinesthetic feedback, Stansfield, 1991] developed exploratory procedures to extract haptic primitives such as compliance and elasticity. Using vision sensors, [Gandolfo et al. 1991] developed methods for determining the stability and rigidityof a struck object by analyzing optical flow fields. Applying temperature sensors, Campos et al. 1991] describe an exploratory procedure that returns the thermal property of an unknown object, thereby enabling discrimination of ....

F. Gandolfo, G. Sandini, and M. Tistarelli. Towards vision guided manipulation. In Proc. Intl. Conf. Advanced Robotics, pages 661--667, Pisa, Italy, June 1991.

.... tasks were studied with reference to psychophysical performance data of adult humans and animals [Crowley et al. 1992; Ballard and Brown, 1992; Coombs and Brown, 1990; Aloimonos et al. 1988; Bajcsy and Tsikos, 1988; Bajcsy, 1985; Capurro et al. 1993; Capurro et al. 97; Capurro et al. 1996; Gandolfo et al. 1991; Grosso et al. 1996] In spite of the recent advances in this area, the systems implemented are still far from achieving human like performance levels and task flexibility. More importantly, even for successful implementations the integration of such skills as manipulation and gaze control ....

F. Gandolfo, G. Sandini, and M. Tistarelli, "Towards vision guided manipulation," Pisa, Italy, June 1991. Intl. Conference on Advanced Robotics '91.

....section. 3. 3 Qualitative Image Space Measures of Rotation In order to compute the estimate of the rotation rate of the object relative to the robot, RO , we can employ a least squares estimate of the center of rotation (COR) of the flow vectors associated with the object that is being pushed [15]. The idealized COR is defined as the location about which all measured points in the images space are rotating. Once we have an estimate of COR, we can estimate the rate of rotation in the image space by averaging the rotational contribution of the tangential component of each vector relative ....

....Once we have an estimate of COR, we can estimate the rate of rotation in the image space by averaging the rotational contribution of the tangential component of each vector relative to the estimated COR. We skip the details here for the sake of brevity, further information may be found in [15]. 4 Learning, Exploration and Exploitation The learning process consists of approximating the forward function f from a set of observed input output pairs. We assume the forward dynamics of the pushed object in the image space can be expressed as a the function: W = f( RO ; R ; RO ) 5) ....

F. Gandolfo, G. Sandini, and M. Tistarelli. Towards vision guided manipulation. In Fifth International Conference on Advanced Robotics, pages 661--667, 1991.

....qualitative approach is motivated by the intention to control the robot arm without relying on shape measure, depth estimate, and calibration of the camera coordinate system with respect to the arm. This approach, which has been studied in the past with reference to vision, touch and force sensing [2, 1, 5, 14], has been tested in two different experimental situations: the insertion of a pen into an independently moving cap, and the point contact pushing of an object of unknown shape, mass distribution and friction towards a goal point in the workspace. By point contact pushing, we mean the pusher ....

....as constraints for separating flow vectors arising from the object from those of the pusher. In pushing, more direct rotational measures could be tried in the task. Initially, in this work, the object s center of rotation and rotational velocity was computed using a least squared technique [5]. However, this measure proved unreliable due to a number of factors. In particular the separation of translational and rotational flow components is a particularly difficult problem, especially when the translational component dominates. Since a relevant state variable in the task is the rotation ....

F. Gandolfo, G. Sandini, and M. Tistarelli. Towards vision guided manipulation. In Fifth International Conference on Advanced Robotics, pages 661--667, 1991.

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