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Authors: Jürgen Leitner ; Mikhail Frank ; Alexander Förster and Jürgen Schmidhuber

Affiliation: Dalle Molle Institute for Artificial Intelligence (IDSIA) / SUPSI / USI, Switzerland

Keyword(s): Humanoid Robot, Robot Control, Object Manipulation, Reactive Control, Collision Avoidance, Robot perception, Eye-hand Coordination, Computer Vision.

Related Ontology Subjects/Areas/Topics: Evolutionary Computation and Control ; Humanoid Robots ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Robotics and Automation ; Vision, Recognition and Reconstruction

Abstract: We propose a system incorporating a tight integration between computer vision and robot control modules on a complex, high-DOF humanoid robot. Its functionality is showcased by having our iCub humanoid robot pick-up objects from a table in front of it. An important feature is that the system can avoid obstacles – other objects detected in the visual stream – while reaching for the intended target object. Our integration also allows for non-static environments, i.e. the reaching is adapted on-the-fly from the visual feedback received, e.g. when an obstacle is moved into the trajectory. Furthermore we show that this system can be used both in autonomous and tele-operation scenarios.

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Paper citation in several formats:
Leitner, J.; Frank, M.; Förster, A. and Schmidhuber, J. (2014). Reactive Reaching and Grasping on a Humanoid - Towards Closing the Action-Perception Loop on the iCub. In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-039-0; ISSN 2184-2809, SciTePress, pages 102-109. DOI: 10.5220/0005113401020109

@conference{icinco14,
author={Jürgen Leitner. and Mikhail Frank. and Alexander Förster. and Jürgen Schmidhuber.},
title={Reactive Reaching and Grasping on a Humanoid - Towards Closing the Action-Perception Loop on the iCub},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2014},
pages={102-109},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005113401020109},
isbn={978-989-758-039-0},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Reactive Reaching and Grasping on a Humanoid - Towards Closing the Action-Perception Loop on the iCub
SN - 978-989-758-039-0
IS - 2184-2809
AU - Leitner, J.
AU - Frank, M.
AU - Förster, A.
AU - Schmidhuber, J.
PY - 2014
SP - 102
EP - 109
DO - 10.5220/0005113401020109
PB - SciTePress