NDLI: “Bring it to me” - generation of behavior-relevant scene elements for interactive robot scenarios

Content Provider	IEEE Xplore Digital Library
Author	Einecke, N. Muhlig, M. Schmiidderich, J. Gienger, M.
Copyright Year	2011
Description	Author affiliation: Honda Research Institute Europe, Carl-Legien-Strasse 30, 63073 Offenbach, Germany (Einecke, N.; Schmiidderich, J.; Gienger, M.) \|\| CoR-Lab Research Institute for Cognition and Robotics, Universitätsstr. 25, 33615 Bielefeld, Germany (Muhlig, M.)
Abstract	Humanoid robots are intended to act and interact in dynamically changing environments in the presence of humans. Current robotic systems are usually able to move in dynamically changing environments because of an inbuilt depth and obstacle sensing. However, for acting in their environment the internal representation of such systems is usually constructed by hand and known in advance. In contrast, this paper presents a system that dynamically constructs its internal scene representation using a model-based vision approach. This enables our system to approach and grasp objects in an previously unknown scene. We combine standard stereo with model-based image fitting techniques for a real-time estimation of the position and orientation of objects. The model-based image processing allows for an easy transfer to the internal, dynamic scene representation. For movement generation we use a task-level whole-body control approach that is coupled with a movement optimization scheme. Furthermore, we present a novel method that constrains the robot to keep certain objects in the FOV while moving. We demonstrate the successful interplay between model-based vision, dynamic scene representation, and movement generation by means of some interactive reaching and grasping tasks.
Starting Page	3415
Ending Page	3422
File Size	1613618
Page Count	8
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5979952
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Three dimensional displays Estimation Robot sensing systems Image color analysis Cameras Mathematical model
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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