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.
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.
Impact and interest:
Citation counts are sourced monthly from and citation databases.
These databases contain citations from different subsets of available publications and different time periods and thus the citation count from each is usually different. Some works are not in either database and no count is displayed. Scopus includes citations from articles published in 1996 onwards, and Web of Science® generally from 1980 onwards.
Citations counts from theindexing service can be viewed at the linked Google Scholar™ search.
|Item Type:||Conference Paper|
|Keywords:||Collision Avoidance, Computer Vision, Eye-hand Coordination, Humanoid Robot, Object Manipulation, Reactive Control, Robot Control, Robot perception|
|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|
Repository Staff Only: item control page