Reactive reaching and grasping on a humanoid: Towards closing the action-perception loop on the iCub

Jürgen Leitner; Mikhail Frank; Alexander Förster; Jürgen Schmidhuber

doi:10.5220/0005113401020109

Reactive reaching and grasping on a humanoid: Towards closing the action-perception loop on the iCub

Jürgen Leitner, Mikhail Frank, Alexander Förster, Jürgen Schmidhuber

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

6 Scopus citations

Abstract

We propose a system incorporating a tight integration between computer vision and robot control modules on a complex, high-DOF humanoid robot. Its functionality is showcased by having our iCub humanoid robot pick-up objects from a table in front of it. An important feature is that the system can avoid obstacles - other objects detected in the visual stream - while reaching for the intended target object. Our integration also allows for non-static environments, i.e. the reaching is adapted on-the-fly from the visual feedback received, e.g. when an obstacle is moved into the trajectory. Furthermore we show that this system can be used both in autonomous and tele-operation scenarios.

Original language	English (US)
Title of host publication	ICINCO 2014 - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics
Publisher	SciTePress
Pages	102-109
Number of pages	8
ISBN (Print)	9789897580390
DOIs	https://doi.org/10.5220/0005113401020109
State	Published - Jan 1 2014
Externally published	Yes

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10.5220/0005113401020109

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title = "Reactive reaching and grasping on a humanoid: Towards closing the action-perception loop on the iCub",

abstract = "We propose a system incorporating a tight integration between computer vision and robot control modules on a complex, high-DOF humanoid robot. Its functionality is showcased by having our iCub humanoid robot pick-up objects from a table in front of it. An important feature is that the system can avoid obstacles - other objects detected in the visual stream - while reaching for the intended target object. Our integration also allows for non-static environments, i.e. the reaching is adapted on-the-fly from the visual feedback received, e.g. when an obstacle is moved into the trajectory. Furthermore we show that this system can be used both in autonomous and tele-operation scenarios.",

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Reactive reaching and grasping on a humanoid: Towards closing the action-perception loop on the iCub. / Leitner, Jürgen; Frank, Mikhail; Förster, Alexander et al.
ICINCO 2014 - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics. SciTePress, 2014. p. 102-109.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AU - Frank, Mikhail

AU - Förster, Alexander

AU - Schmidhuber, Jürgen

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AB - We propose a system incorporating a tight integration between computer vision and robot control modules on a complex, high-DOF humanoid robot. Its functionality is showcased by having our iCub humanoid robot pick-up objects from a table in front of it. An important feature is that the system can avoid obstacles - other objects detected in the visual stream - while reaching for the intended target object. Our integration also allows for non-static environments, i.e. the reaching is adapted on-the-fly from the visual feedback received, e.g. when an obstacle is moved into the trajectory. Furthermore we show that this system can be used both in autonomous and tele-operation scenarios.

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Reactive reaching and grasping on a humanoid: Towards closing the action-perception loop on the iCub

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