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In this paper a method for fast visual grasp of unknown objects with a multi-fingered hand is presented. The algorithm is composed of an object surface reconstruction algorithm and a local grasp planner, evolving in parallel. The former uses an elastic reconstruction surface, whose dimensions are assigned initially by a preshaping process, and which shrinks toward the object until some parts of the...
A new method for fast visual grasp of unknown objects using a camera mounted on a robot in an eye-in-hand configuration is presented. The method is composed of a fast iterative object surface reconstruction algorithm and of a local grasp planner, evolving in a synchronized parallel way. The reconstruction algorithm makes use of images taken by a camera carried by the robot. A reconstruction sphere,...
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