Autonomous grasp and manipulation planning using a ToF camera
Autonomous grasp and manipulation planning using a ToF camera
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使用 ToF 相机进行自主抓取和操作规划
DOI：
10.1016/j.robot.2011.07.012
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发表时间：
2012
期刊：
影响因子：
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通讯作者：
R. Dillmann
中科院分区：
文献类型：
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作者：
Zhixing Xue;S. Ruehl;Andreas Hermann;T. Kerscher;R. Dillmann
飞行时间相机可以帮助服务机器人感知其3D环境。在本文中，我们介绍了我们的传感器校准和三维数据分割的方法，使用它来自动规划把握和操作动作的服务机器人。阻抗控制集中用于进一步补偿建模误差并施加计算的力。该方法进一步证明了在三个服务机器人的应用。基于传感器的运动规划允许机器人在动态和混乱的环境中移动而不会发生碰撞。未知的物体可以被发现和抓住。在自主冰淇淋服务场景中，机器人捕获冰淇淋的表面并规划操纵轨迹以舀取一部分冰淇淋。
A time-of-flight camera can help a service robot to sense its 3D environment. In this paper, we introduce our methods for sensor calibration and 3D data segmentation to use it to automatically plan grasps and manipulation actions for a service robot. Impedance control is intensively used to further compensate the modeling error and to apply the computed forces. The methods are further demonstrated in three service robotic applications. Sensor-based motion planning allows the robot to move within dynamic and cluttered environment without collision. Unknown objects can be detected and grasped. In the autonomous ice cream serving scenario, the robot captures the surface of ice cream and plans a manipulation trajectory to scoop a portion of ice cream.