Integrated Grasp Planning and Visual Object Localization For a Humanoid Robot with Five-Fingered Hands
- 1 October 2006
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 5663-5668
- https://doi.org/10.1109/iros.2006.282367
Abstract
In this paper we present a framework for grasp planning with a humanoid robot arm and a five-fingered hand. The aim is to provide the humanoid robot with the ability of grasping objects that appear in a kitchen environment. Our approach is based on the use of an object model database that contains the description of all the objects that can appear in the robot workspace. This database is completed with two modules that make use of this object representation: an exhaustive offline grasp analysis system and a real-time stereo vision system. The offline grasp analysis system determines the best grasp for the objects by employing a simulation system, together with CAD models of the objects and the five-fingered hand. The results of this analysis are added to the object database using a description suited to the requirements of the grasp execution modules. A stereo camera system is used for a real-time object localization using a combination of appearance-based and model-based methods. The different components are integrated in a controller architecture to achieve manipulation task goals for the humanoid robotKeywords
This publication has 16 references indexed in Scilit:
- Domo: a force sensing humanoid robot for manipulation researchPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Shared Features for Scalable Appearance-Based Object RecognitionPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- GraspIt!IEEE Robotics & Automation Magazine, 2004
- Fully automated and stable registration for augmented reality applicationsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2004
- ARMAR II — A LEARNING AND COOPERATIVE MULTIMODAL HUMANOID ROBOT SYSTEMInternational Journal of Humanoid Robotics, 2004
- Real-time 100 object recognition systemPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Object Recognition using Local Affine Frames on Distinguished RegionsPublished by British Machine Vision Association and Society for Pattern Recognition ,2002
- Object recognition from local scale-invariant featuresPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1999
- Planning optimal graspsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1991
- On grasp choice, grasp models, and the design of hands for manufacturing tasksIEEE Transactions on Robotics and Automation, 1989