NDLI: Simulation of detecting and climbing a ladder for a humanoid robot

Content Provider	IEEE Xplore Digital Library
Author	Gyawali, P. McGough, J.
Copyright Year	2013
Description	Author affiliation: South Dakota Sch. of Mines & Technol., Rapid City, SD, USA (Gyawali, P.; McGough, J.)
Abstract	The most recent DARPA challenge presents an industrial accident scenerio for a humanoid robot to traverse and then perform human oriented tasks. In the fifth stage of the challenge, the robot must climb a wall mounted metal rung ladder. To accomplish this task, the robot must first recognize and localize the ladder prior to grasping and climbing. This paper presents the localization of the rungs using point cloud data from a simulated Microsoft Kinect sensor. It also presents grasping and climbing manuveur using PR2 Robot. The basic approach is to first segment out the background planes. We apply a voxel grid filter to make the computation faster. Then using the RANSAC algorithm, lines that represent the legs and the interior rung midline are extracted. Vertical lines are thrown away and only the lines that represent the rungs are retained. The center of the computed line is our estimated location for the rung centroid. We then can use the centroid information for the PR2 grasping.
Starting Page	1
Ending Page	6
File Size	651619
Page Count	6
File Format	PDF
ISSN	21540373
e-ISBN	9781467352086
DOI	10.1109/EIT.2013.6632710
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-05-09
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Grippers Joints Kinematics Three-dimensional displays Grasping pointcloud KEYWORDS Ladder rung PR2 Kinect voxelgrid RANSAC Inverse Kinematics Gazebo
Content Type	Text
Resource Type	Article

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