Robot object manipulation using stereoscopic vision and conformal geometric algebra

Article type: Research Article

Authors: Zamora-Esquivel, Julio | Bayro-Corrochano, Eduardo

Affiliations: Intel, Jalisco, Mexico | Department of Electrical Engineering and Computer Science, CINVESTAV, Unidad Guadalajara, Jalisco, Mexico

Note: [] Corresponding author. Email: julio.zamora.esquivel@intel.com

Abstract: This paper uses geometric algebra to formulate, in a single framework, the kinematics of a three finger robotic hand, a binocular robotic head, and the interactions between 3D objects, all of which are seen in stereo images. The main objective is the formulation of a kinematic control law to close the loop between perception and actions, which allows to perform a smooth visually guided object manipulation.

Keywords: Conformal geometry, kinematics, grasping, tracking

DOI: 10.3233/ABB-2011-0005

Journal: Applied Bionics and Biomechanics, vol. 8, no. 3-4, pp. 411-428, 2011