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Open Access
Julio Zamora-Esquivel, Eduardo Bayro-Corrochano, "Robot Object Manipulation Using Stereoscopic Vision and Conformal Geometric Algebra",Applied Bionics and Biomechanics, vol.8, Article ID728132, 18 pages, 2011. https://doi.org/10.3233/ABB-2011-0005
Robot Object Manipulation Using Stereoscopic Vision and Conformal Geometric Algebra
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.
Copyright
Copyright © 2011 Hindawi Publishing Corporation. This is an open access article distributed under theCreative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
