ICRA 2011 Paper Abstract

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Paper WeA211.4

Arisumi, Hitoshi (National Inst. of AIST), Kwak, Nosan (National Institute of Advanced Industrial Science and Technology), Yokoi, Kazuhito (National Inst. of AIST)

Systematic Touch Scheme for a Humanoid Robot to Grasp a Door Knob

Scheduled for presentation during the Regular Sessions "Grasping II" (WeA211), Wednesday, May 11, 2011, 10:50−11:05, Room 5F

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on December 10, 2019

Keywords Humanoid Robots, Sensor Fusion, Grasping

Abstract

This paper deals with the practical problem as to how a humanoid robot opens a door in an office environment. Among the several tasks for the door opening, we focus on the recognition of a door and grasping its knob and propose a systematic touch scheme that combines the visual and touch data to grasp a knob safely and robustly. The visual recognition of a door and its knob is done by feature matching by a feature classifier and a segmentation method with minor assumptions about a knob, respectively. The position of a knob from the visual recognition is refined by the proposed touch scheme where a robot touches a knob several times with a hand equipped with a force-torque sensor. We realize that in the on-line experiment, a robot recognizes a door and its knob, and grasps the knob and partially opens the door.

 

 

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