| [49] |
| Title: A self-learning controller for monocular grasping Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems |
| Written by: Smagt P van der, Kr{\"o}se B, Groen F |
| in: Jun. 1992 |
| Volume: Number: |
| on pages: 177-182 |
| Chapter: |
| Editor: |
| Publisher: IEEE |
| Series: |
| Address: Raleigh, N. C. |
| Edition: |
| ISBN: |
| how published: |
| Organization: |
| School: |
| Institution: |
| Type: |
| DOI: |
| URL: |
| ARXIVID: |
| PMID: |
Note:
Abstract: A method is presented to learn 3D grasping of objects with unknown dimensions using a monocular eye-in-hand manipulator. From a sequence of images a motion profile is generated to approach the object of unknown size. It is shown that monocular visual information suffices to control the deceleration of the robot manipulator. A strategy for generating learning samples is presented, and simulation results demonstrate the effectiveness of the method.