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Applied Bionics and Biomechanics
Volume 8, Issue 3-4, Pages 411-428

Robot Object Manipulation Using Stereoscopic Vision and Conformal Geometric Algebra

Julio Zamora-Esquivel1 and Eduardo Bayro-Corrochano2

1Intel, Jalisco, Mexico
2Department of Electrical Engineering and Computer Science, CINVESTAV, Unidad Guadalajara, Jalisco, Mexico

Copyright © 2011 Hindawi Publishing Corporation. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


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.