Robotic Grasping of Novel Objects using Vision
International Journal of Robotics Research
HERB: a home exploring robotic butler
Autonomous Robots
Real-time perception-guided motion planning for a personal robot
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
An overview of 3D object grasp synthesis algorithms
Robotics and Autonomous Systems
Strategies for human-in-the-loop robotic grasping
HRI '12 Proceedings of the seventh annual ACM/IEEE international conference on Human-Robot Interaction
Hi-index | 0.00 |
In this article, we describe efficient methods for tackling everyday mobile manipulation tasks that require object pick-up. In order to achieve real-time performance in complex environments, we focus our approach on fast yet robust solutions. For 3D perception of objects on planar surfaces, we develop scene segmentation methods that process depth images in real-time at high frame rates. We efficiently plan feasible, collision-free grasps for the segmented objects directly from the perceived point clouds to achieve fast execution times. We evaluate our approaches quantitatively in lab experiments and also report on the successful integration of our methods in public demonstrations at RoboCup@Home competitions in 2011 and 2012.