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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
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on pages: 177-182
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Publisher: IEEE
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Address: Raleigh, N. C.
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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.