NDLI: Kinect-based robotic manipulation for door opening

Content Provider	IEEE Xplore Digital Library
Author	Zhou Li Zeyang Xia Guodong Chen Yangzhou Gan Ying Hu Jianwei Zhang
Copyright Year	2013
Description	Author affiliation: Dept. of Inf., Univ. of Hamburg, Hamburg, Germany (Jianwei Zhang) \|\| Robot. & Microsyst. Center, Soochow Univ., Suzhou, China (Guodong Chen) \|\| Center of Cognitive Technol., Shenzhen Inst. of Adv. Technol., Shenzhen, China (Zhou Li; Zeyang Xia; Yangzhou Gan; Ying Hu)
Abstract	A general framework of robot manipulation planning for door opening task is proposed in this paper. First grasp pattern, including grasp point and method for various door handles, is defined. Second door-opening pattern, including task planning and trajectory planning, is also proposed. This paper utilizes Kinect as a vision sensor to collect point cloud data of the environment. Viewpoint Feature Histogram (VFH) descriptors are used to recognize the type of the door handle. Then corresponding parameters of grasp pattern and door-opening pattern are extracted using Point Cloud processing algorithms. The robot follows the corresponding grasp pattern to grasp the door handle and repeats the motion trajectory to finish each sub operation. Two experiments were conducted to validate the proposed framework.
Sponsorship	IEEE Robot. Autom. Soc.
Starting Page	656
Ending Page	660
File Size	1187610
Page Count	5
File Format	PDF
ISBN	9781479927449
DOI	10.1109/ROBIO.2013.6739535
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-12-12
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Trajectory Grippers Planning Conferences Service robots
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
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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