Systematic touch scheme for a humanoid robot to grasp a door knob
Systematic touch scheme for a humanoid robot to grasp a door knob
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人形机器人抓取门把手的系统触摸方案
DOI：
10.1109/icra.2011.5980547
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发表时间：
2011
期刊：
影响因子：
--
通讯作者：
K. Yokoi
中科院分区：
文献类型：
--
作者：
Hitoshi Arisumi;Nosan Kwak;K. Yokoi
本文研究了仿人机器人在办公环境下开门的实际问题。在门打开的几个任务中，我们重点研究了门的识别和门把手的抓取，并提出了一种结合视觉和触觉数据的系统触摸方案，以安全、鲁棒地抓取门把手。门和门把手的视觉识别分别通过特征分类器的特征匹配和对门把手进行小假设的分割方法来实现。通过提出的触摸方案，机器人用装有力-扭矩传感器的手多次触摸一个旋钮，从视觉识别中改进了旋钮的位置。我们在在线实验中实现了机器人识别门和门把手，并抓住门把手部分打开门。
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.