Reactive Reaching and Grasping on a Humanoid - Towards Closing the Action-Perception Loop on the iCub

Jürgen Leitner, Mikhail Frank, Alexander Förster, Jürgen Schmidhuber

Abstract

We propose a system incorporating a tight integration between computer vision and robot control modules on a complex, high-DOF humanoid robot. Its functionality is showcased by having our iCub humanoid robot pick-up objects from a table in front of it. An important feature is that the system can avoid obstacles – other objects detected in the visual stream – while reaching for the intended target object. Our integration also allows for non-static environments, i.e. the reaching is adapted on-the-fly from the visual feedback received, e.g. when an obstacle is moved into the trajectory. Furthermore we show that this system can be used both in autonomous and tele-operation scenarios.

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Paper Citation


in Harvard Style

Leitner J., Frank M., Förster A. and Schmidhuber J. (2014). Reactive Reaching and Grasping on a Humanoid - Towards Closing the Action-Perception Loop on the iCub . In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-039-0, pages 102-109. DOI: 10.5220/0005113401020109


in Bibtex Style

@conference{icinco14,
author={Jürgen Leitner and Mikhail Frank and Alexander Förster and Jürgen Schmidhuber},
title={Reactive Reaching and Grasping on a Humanoid - Towards Closing the Action-Perception Loop on the iCub},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2014},
pages={102-109},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005113401020109},
isbn={978-989-758-039-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Reactive Reaching and Grasping on a Humanoid - Towards Closing the Action-Perception Loop on the iCub
SN - 978-989-758-039-0
AU - Leitner J.
AU - Frank M.
AU - Förster A.
AU - Schmidhuber J.
PY - 2014
SP - 102
EP - 109
DO - 10.5220/0005113401020109