GraspIt!: A Versatile Simulator for Grasp Analysis
Published in In Proceedings ASME International Mechanical Engineering Congress & Exposition, 2000
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Publications
Examples of 3-D Grasp Quality Computations
Published in Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on, 1999
Previous grasp quality research is mainly theoretical, and has assumed that contact types and positions are given, in order to preserve the generality of the proposed quality measures.
3-D Modeling from Range Imagery: An Incremental Method with a Planning Component
Published in Image and Vision Computing, 1999
In this article we present a method for automatically constructing a solid (in the CAD sense) model of an unknown object from range images.
Integration of vision, force and tactile sensing for grasping
Published in Int. J. Intelligent Machines, 1999
Most robotic hands are either sensorless or lack the ability to report accurate position and force information relating to contact.
View Planning for Site Modeling
Published in Proc. DARPA Image Understanding Workshop, 1998
3-D models of complex environments, known as site models, are used in many different applications ranging from city planning, urban design, fire and police planning, military applications, virtual reality modeling and others.
Interactive Sensor Planning
Published in Computer Vision and Pattern Recognition Conference (CVPR), 1998
This paper describes an interactive sensor planning system, that can be used to select viewpoints subject to camera visibility, field of view and task constraints.
Registering, Integrating, and Building CAD Models from Range Data
Published in Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on, 1998
We introduce two methods for the registration of range images when a prior estimate of the transformation between views is not available and the overlap between images is relatively small.
Design of Partitioned Visual Feedback Controller
Published in IEEE Int. Conf. on Robotics and Automation, 1998
Image-based servoing systems are often used to track moving targets and their underlying control architecture is a regulation of the image.
Solid Model Acquisition from Range Imagery
Published in , 1998
Recently the use of three-dimensional computer models has greatly increased, in part because of the availability of fast, inexpensive graphics hardware and technologies such as VRML-ready Internet browsers.
Automated model acquisition from range images with view planning
Published in Proceedings: 1997 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, June 17-19, 1997, San Juan, Puerto Rico, 1997
We present an incremental system that builds accurate CAD models of objects from multiple range images.
3-D modeling from range imagery: an incremental method with a planning component
Published in 3-D Digital Imaging and Modeling, 1997. Proceedings., International Conference on Recent Advances in, 1997
In this paper we present a method for automatically constructing a CAD model of an unknown object from range images.
A robotic system for 3D model acquisition from multiple range images
Published in Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on, 1997
This paper describes a robotic system that builds a 3D CAD model of an object incrementally from multiple range images.
Computing Camera Viewpoints in a Robot Work-Cell
Published in Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on, 1996
Automatically planning a camera viewpoint for tasks such as inspection in an active robot work-cell is a difficult problem.
Performance of a partitioned visual feedback controller
Published in Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on, 1901
We present a novel approach we call partitioning where the robot's degrees-of-freedom (DOF) are categorized into two classes based on joint kinematics and dynamics to design a coupled multi-input control system.