This paper presents a system enabling a mobile robot to autonomously pick-up objects a human is pointing at from the oor. The system does not require object models and is designed to grasp unknown objects. The robot decides by itself if an object is suitable for grasping by considering measures of size, position and the environment suitability. The implementation is built on the second prototype of the home care robot Hobbit, thereby verifying that complex robotic manipulation tasks can be performed with economical hardware. The presented system was already tested in real apartments with elderly people. We highlight this by discussing the additional complexity for complete autonomous behavior in apartments compared with tests in labs. ; This work was supported in part by the European Community's Seventh Framework Programme (FP7/2007-2013) under Grant 288146, HOBBIT, in part by the Spanish Ministry of Science, Innovation and Universities through the project COGDRIVE - Arti cial Intelligence Techniques and Assistance to Autonomous Navigation under Grant DPI2017-86915-C3-3-R, in part by the RoboCity2030-DIH-CM, Madrid Robotics Digital Innovation Hub, under Grant S2018/NMT-4331, in part by the Programas de Actividades ICD en la Comunidad de Madrid, and in part by the Structural Funds of the EU. ; Peer reviewed
Grasping Objects From the Floor in Assistive Robotics: Real World Implications and Lessons Learned
29.08.2019
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
DDC: | 629 |
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