3D Grasp Planning

Article View: comp.robotics

Article #461

#461

From: Robert Johnson
Date: Thu, 20 Aug 1992 20:15

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Hi,

   I am looking for references (and/or software) on 3D representations
and algorithms suitable for robot grasp planning from range (or stereo)
images.

   We are currently using stereo vision to reconstruct the 3D
surface of an object and then performing a 2D grasp analysis by simply
projecting the surface data into the xy plane.  This provides a constrained
grasp pose with the gripper oriented parallel to the xy plane.  We are now
interested in unconstrained grasping in which the 3D data is used to
determine grasps with arbitrary gripper orientations.

   Any help would be greatly appreciated.  Please respond by E-mail. 

   Thank you!


---------------------------------------
Robert K. Johnson
Lawrence Livermore National Lab
Phone: (510) 422-8375
Email: johnson@akula.llnl.gov

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Path: arc1-ca.pugleaf.net!sparky!uunet!stanford.edu!ames!lll-winken!akula.llnl.gov!johnson
From: johnson@akula.llnl.gov (  Robert Johnson          )
Newsgroups: comp.robotics,sci.image.processing,comp.ai
Subject: 3D Grasp Planning
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Date: 20 Aug 92 20:15:44 GMT
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Reply-To: johnson@akula.llnl.gov (  Robert Johnson          )
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