Title :
Discovery, segmentation and reactive grasping of unknown objects
Author :
Schiebener, David ; Schill, John ; Asfour, Tamim
Author_Institution :
Inst. for Anthropomatics (IFA), Karlsruhe Inst. of Technol. (KIT), Karlsruhe, Germany
fDate :
Nov. 29 2012-Dec. 1 2012
Abstract :
Learning the visual appearance and physical properties of unknown objects is an important capability for humanoid robots that are supposed to be working in an open environment. We present an approach that enables a robot to discover new, unknown objects, segment them from the background and grasp them. This gives the robot full control over the object and allows its further multimodal exploration.
Keywords :
end effectors; grippers; humanoid robots; image segmentation; discovery; humanoid robots; multimodal exploration; open environment; physical property; reactive grasping; segmentation; unknown objects; visual appearance; Cameras; Grasping; Robot sensing systems; Shape; Three-dimensional displays; Visualization;
Conference_Titel :
Humanoid Robots (Humanoids), 2012 12th IEEE-RAS International Conference on
Conference_Location :
Osaka
DOI :
10.1109/HUMANOIDS.2012.6651501
