Humanoid robots have had significant research interest in the past two decades. Their classification as mobile manipulators allows them to work in unstructured environments creating new possibilities for human-robot interaction. Object grasping and manipulation are essential and enabling capabilities for mobile humanoid robots that require reliable perception. This paper presents a perception approach using depth images from an RGB-D camera to estimate the work plane and estimate object positions relative to the robot. Results from experiments with a set of object shapes and scenarios are presented.
A Humanoid Robot Object Perception Approach Using Depth Images
01.07.2019
5492828 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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