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Publication type: Article in Proceedings
Author: Judith Müller, Udo Frese, Thomas Röfer
Title: Grab a Mug - Object Detection and Grasp Motion Planning with the Nao Robot
Book / Collection title: Proceedings of the IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2012), Osaka, Japan
Page(s): 349 – 356
Year published: 2012
Publisher: IEEE
Abstract: In this paper we introduce an online grasping system for the Nao robot manufactured by Aldebaran Robotics. The proposed system consists of an object detector and a grasp motion planner. Thereby, known objects are detected by a stereo contour-based object detector and hand motion paths are planned by an A*-based algorithm while avoiding obstacles. Compared to skilled robots such as Justin or ASIMO online grasping with the Nao constitute as particular problem due to the limited processing power and the hand design. The methods proposed allow detecting and grasping objects in realtime on an affordable humanoid robot.
Internet: http://www.informatik.uni-bremen.de/agebv2/downloads/videos/muellerhumanoids12.mp4
PDF Version: http://www.informatik.uni-bremen.de/agebv2/downloads/published/muellerhumanoids12.pdf
Keywords: stereo vision object detection grasp motion planning obstacle avoidance
Status: Reviewed
Last updated: 07. 11. 2013

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