GRASPY – Object Manipulation with NAO
نویسندگان
چکیده
In this paper we introduce an online object manipulation system for the NAO robot that is able to detect and grasp an object out of a human hand and then give it back in real-time. Known objects are rendered from 3D models and detected stereo contour-based by using a new stereo vision head for NAO. In order to grasp objects, motion trajectories are generated by an A* planner while avoiding obstacles. In order to safely release objects back into a human hand, a combination of tactile and force sensors of the carrying arm is used to detect whether someone touched the grasped object. We performed quantitative experiments in order to evaluate the quality of the detector, the time to grasp an object, as well as the number of successful grasps. We demonstrated the whole system on the real robot.
منابع مشابه
Passive Non-Prehensile Manipulation of a Specific Object on Predictable Helix Path Based on Mechanical Intelligence
Object manipulation techniques in robotics can be categorized in two major groups including manipulation with and without grasp. The aim of this paper is to develop an object manipulation method where in addition to being grasp-less, the manipulation task is done in a passive approach. In this method, linear and angular positions of the object are changed and its manipulation path is controlled...
متن کاملUser evaluation of a multi-user social interaction model implemented on a Nao robot
This paper describes the results from a user evaluation of a robot bartender system, which supports situated, social interaction with multiple customers. The system is a Nao-based version of an existing robot bartender, developed in the JAMES project [1]. The Nao-based version has provided us with a local experimentation platform, bearing in mind that our focus is on social multi-user interacti...
متن کاملPlanning and Control of Two-Link Rigid Flexible Manipulators in Dynamic Object Manipulation Missions
This research focuses on proposing an optimal trajectory planning and control method of two link rigid-flexible manipulators (TLRFM) for Dynamic Object Manipulation (DOM) missions. For the first time, achievement of DOM task using a rotating one flexible link robot was taken into account in [20]. The authors do not aim to contribute on either trajectory tracking or vibration control of the End-...
متن کاملManipulation Control of a Flexible Space Free Flying Robot Using Fuzzy Tuning Approach
Cooperative object manipulation control of rigid-flexible multi-body systems in space is studied in this paper. During such tasks, flexible members like solar panels may get vibrated that in turn may lead to some oscillatory disturbing forces on other subsystems, and consequently produces error in the motion of the end-effectors of the cooperative manipulating arms. Therefore, to design and dev...
متن کاملOptimal Trajectory Planning of a Box Transporter Mobile Robot
This paper aims to discuss the requirements of safe and smooth trajectory planning of transporter mobile robots to perform non-prehensile object manipulation task. In non-prehensile approach, the robot and the object must keep their grasp-less contact during manipulation task. To this end, dynamic grasp concept is employed for a box manipulation task and corresponding conditions are obtained an...
متن کامل