Autonomous grasp and manipulation planning using a ToF camera |
| |
| Authors: | Zhixing Xue Steffen W Ruehl Andreas Hermann Thilo Kerscher Ruediger Dillmann |
| |
| Affiliation: | 1. Politecnico di Milano, Polo Territoriale di Lecco, Via M. d′Oggiono 18/a, 23900 Lecco, Italy;2. Micos Engineering GmbH, Dübendorf (ZH), Switzerland;1. College of Physics and Information Engineering, and Institute of Micro-Nano Devices & Solar Cells, Fuzhou University, Fuzhou 350108, PR China;2. Jiangsu Collaborative Innovation Center of Photovolatic Science and Engineering, Changzhou 213164, PRChina;1. Faculty of Engineering, Shinshu University, Japan;2. Inorganic Specialty Product Research Laboratory, Ube Industries Ltd., Japan;1. Department of Electrical and Electronic Engineering, Faculty of Engineering, Shinshu University, Japan;2. Institute of Carbon Science and Technology, Shinshu University, 4-17-1 Wakasato, Nagano 380-8553, Japan;3. Department of Electrical and Electronic Engineering, National Institute of Technology, Nagano College, 716 Tokuma, Nagano 381-8550, Japan |
| |
| Abstract: | A time-of-flight camera can help a service robot to sense its 3D environment. In this paper, we introduce our methods for sensor calibration and 3D data segmentation to use it to automatically plan grasps and manipulation actions for a service robot. Impedance control is intensively used to further compensate the modeling error and to apply the computed forces. The methods are further demonstrated in three service robotic applications. Sensor-based motion planning allows the robot to move within dynamic and cluttered environment without collision. Unknown objects can be detected and grasped. In the autonomous ice cream serving scenario, the robot captures the surface of ice cream and plans a manipulation trajectory to scoop a portion of ice cream. |
| |
| Keywords: | |
| 本文献已被 ScienceDirect 等数据库收录！ |
|
