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Grab a mug – object detection and grasp motion planning with the nao robot.
| Content Provider | CiteSeerX |
|---|---|
| Author | Müller, Judith Frese, Udo Röfer, Thomas |
| Abstract | Abstract—In this paper we introduce an online grasping system for the Nao robot [1] manufactured by Aldebaran Robotics. The proposed system consists of an object detector and a grasp motion planner. Thereby, known objects are detected by a stereo contour-based object detector and hand motion paths are planned by an A*-based algorithm while avoiding obstacles. Compared to skilled robots such as Justin [2] or ASIMO [3] online grasping with the Nao constitute as particular problem due to the limited processing power and the hand design. The methods proposed allow detecting and grasping objects in realtime on an affordable humanoid robot. I. |
| File Format | |
| Access Restriction | Open |
| Subject Keyword | Nao Robot Grasp Motion Planning Mug Object Detection Hand Design Nao Constitute Grasp Motion Planner Online Grasping System Limited Processing Power Aldebaran Robotics Stereo Contour-based Object Detector Particular Problem Affordable Humanoid Robot Object Detector Hand Motion Path Proposed System |
| Content Type | Text |
| Resource Type | Article |