Vision-Based Grasp Tracking for Planar Objects

Gabriel Recatala, Raffaella Carloni, Claudio Melchiorri, Pedro J. Sanz, Enric Cervera, Angel P. del Pobil

    Research output: Contribution to journalArticleAcademicpeer-review

    8 Citations (Scopus)
    2 Downloads (Pure)


    In robotics, the manipulation of a priori unknown objects involves several steps and problems that must be carefully considered and solved by proper planning and control algorithms. For example, once suitable contact points have been computed, the control system should be able to track them in the approach phase, i.e., while the relative position/orientation of the object and the gripper of the robotic system change due to the approaching movement of the robot toward the object. This correspondence paper proposes a practical method for the tracking of grasp points in image space that is based on transferring previously computed grasp points from an initial image to subsequent ones and on the analysis of the new grasp configuration. Three different options are proposed for this transference. Experimental results show the interesting practical performance of the general procedure.
    Original languageUndefined
    Pages (from-to)844-849
    Number of pages6
    JournalIEEE transactions on systems, man and cybernetics. Part C: Applications and reviews
    Issue number6
    Publication statusPublished - Nov 2008


    • EWI-20231
    • IR-77505
    • CE-Advanced Robotics

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