Authors:
Jürgen Leitner
;
Mikhail Frank
;
Alexander Förster
and
Jürgen Schmidhuber
Affiliation:
Dalle Molle Institute for Artificial Intelligence (IDSIA) / SUPSI / USI, Switzerland
Keyword(s):
Humanoid Robot, Robot Control, Object Manipulation, Reactive Control, Collision Avoidance, Robot perception, Eye-hand Coordination, Computer Vision.
Related
Ontology
Subjects/Areas/Topics:
Evolutionary Computation and Control
;
Humanoid Robots
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Robotics and Automation
;
Vision, Recognition and Reconstruction
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.