Determination of 3D grasping points using stereo matching and neural network

Hyun-Ki Lee; Sang-Ryong Lee

doi:10.1117/12.467516

18 October 2002 Determination of 3D grasping points using stereo matching and neural network

Hyun-Ki Lee, Sang-Ryong Lee

Proceedings Volume 4902, Optomechatronic Systems III; (2002) https://doi.org/10.1117/12.467516
Event: Optomechatronic Systems III, 2002, Stuttgart, Germany

Abstract

This paper deals with the synthesis of the determination of 3-dimensional grasping points for unknown object. This is achieved by two steps. First step is to find the whole 3-dimensional geometrical information for unknown object by using a stereo matching. In this step SMW method is employed to find the precision 3-dimensional geometrical information. Second step is to find the 3-dimensional grasping points by using neural network which is trained by grasping data sets resulted from optimization of which objective function is to minimize the force of finger tip and subjected to coulomb friction model with known object. The algorithm is verified by computer simulation.

Citation Download Citation

Hyun-Ki Lee and Sang-Ryong Lee "Determination of 3D grasping points using stereo matching and neural network", Proc. SPIE 4902, Optomechatronic Systems III, (18 October 2002); https://doi.org/10.1117/12.467516

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