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An Experimental Comparis on of ECV Based Grasping Methods

Kukliński K., Siemieniako F., Popović M., Kruger N.

Machine Dynamics Research

2011

Vol. 35, No. 3

53-59

The paper presents the experimental comparison of ECV based grasping methods. We focus on three methods which generate grasping hypotheses based on visual information. One method based on edge information and two other ones based on surface information. These methods were tested by two kinds of experiments: simple one and complex one. Experiments were conducted at the University of Southern Denmark in the Cognitive Vision Lab. The research reveals the complementary power of given grasping methods. Furthermore it shows which method is the best for each of the objects. Owing to that, it is possible to improve grasping by using surface as well as edge information.