Reactive reaching and grasping on a humanoid: Towards closing the action-perception loop on the iCub

Leitner, Juergen, Frank, Mikhail, Foster, Alexander, & Schmidhuber, Jurgen (2014) Reactive reaching and grasping on a humanoid: Towards closing the action-perception loop on the iCub. In Filipe, Joaquim, Gusikhin, Oleg, Madani, Kurosh, & Sasiadek, Jurek (Eds.) Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2014) - Volume 1, IEEE, Vienna, Austria, pp. 102-109.

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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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ID Code: 82583
Item Type: Conference Paper
Refereed: Yes
Additional URLs:
Keywords: Collision Avoidance, Computer Vision, Eye-hand Coordination, Humanoid Robot, Object Manipulation, Reactive Control, Robot Control, Robot perception
ISBN: 9789897580390
Divisions: Current > Research Centres > ARC Centre of Excellence for Robotic Vision
Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2014 SCITEPRESS - Science and Technology Publications
Deposited On: 18 Mar 2015 22:46
Last Modified: 23 Mar 2015 03:50

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