Authors:
Mario Richtsfeld
;
Wolfgang Ponweiser
and
Markus Vincze
Affiliation:
Institute of Automation and Control, Vienna University of Technology, Austria
Keyword(s):
Service robotics, laser-range scanning, object detection, task planning.
Related
Ontology
Subjects/Areas/Topics:
Human-Robots Interfaces
;
Image Processing
;
Informatics in Control, Automation and Robotics
;
Mobile Robots and Autonomous Systems
;
Robotics and Automation
;
Vision, Recognition and Reconstruction
Abstract:
In the near future, service robots will support people with different handicaps to improve the quality of their life. One of the required key technologies is to setup the grasping ability of the robot. This includes an autonomous object detection and grasp motion planning to fulfil the task of providing objects from any position on a table to the user. This paper presents a complete system, which consists of a fixed working station equipped with a laser-range scanner, a seven degrees of freedom arm manipulator and an arm prothesis as gripper. The contribution of this work is to use only one sensor system based on a laser-range scanning head to solve this challenge. The goal is that the user can select any defined object on the table and the robot arm delivers it to a target position or to the disabled person.