Hand Alignment and Tracking

One of the applications of the system is in robotic grasping. Here, we assume that a suitable grasp is determined off-line given the object. This is not a very unrealistic assumption since in a case of simple, box-like objects, the number of suitable grasp is low. Fig.  shows a sequence of a 6-DOF visual control (from left to right): from an arbitrary starting position, the end-effector is controlled to a predefined reference position with respect to the target object. When the object starts moving, the visual system tracks the pose of the object. The robot is then controlled in a position based framework to remain a constant pose between the gripper and the object frame. In this case, a stand alone camera system was used.