| 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 |
