Task Specification for Visually Guided Grasping

J. Neubert, P. Ravindran, and N.J. Ferrier (USA)

Keywords

Assistive Robotics, Task Specification,User Interaction, Active Stereo Vision, Telecooperation

Abstract

In this paper we present a task specification technique that enables the easy completion of a visually guided grasp ing task. Qualitative models of representative geometric primitives are used as object models. Simple manipulation of these object models using an intuitive visual interface provides a method for the specification of task-dependent grasps. By using a "click and drag" method a novice can specify a task to the robot and thus the tedious operation of manually positioning the end-effector relative to the object is simplified. We focus on the human interaction aspect and present preliminary results of grasping experiments done with the system.

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