Multi-fingered reactive grasping with active guided camera systems

摘要

This paper presents an innovative approach of how to integrate a simple camera into reactive grasping manipulations using the multi-fingered gripper SDH2. The enrichment of blind and reactive grasping systems is the main goal of this idea. Therefore the dextrous 3 finger hand SDH2 is mounted to a robot arm and grasps the camera in order to detect object positions or to measure object dimensions in a scene and therewith to support and facilitate reactive grasping manipulations. Our system provides a flexible way of combining camera hardware and image processing algorithms to carry out exploration of an unknown scene and to detect and grasp objects with high accuracy.