Integration of 6D Object Localization and Obstacle Detection for Collision Free Robotic Manipulation

Author

Grundmann, Thilo ; Eidenberger, Robert ; Zoellner, R.D. ; Xue, Zhixing ; Ruehl, Steffen ; Zoellner, J.M. ; Dillmann, Ruediger ; Kuehnle, Jens ; Verl, Alexander

Author_Institution

Siemens Corp. Technol. Inf. & Commun., Munich

fYear

2008

fDate

4-4 Dec. 2008

Firstpage

66

Lastpage

71

Abstract

The major goal of research regarding mobile service robotics is to enable a robot to assist human beings in their everyday life. This implies that the robot will have to deal with everyday life environments. One of the most important steps towards able service robots is to enhance the ability to operate well in unstructured living environments. In this paper we focus on the integration of object recognition, obstacle detection and collision free manipulation to increase the service robots manipulation abilities in the context of highly unstructured environments.

Keywords

collision avoidance; manipulators; mobile robots; object recognition; robot vision; service robots; collision free robotic manipulation; everyday life environment; mobile service robotics; object localization; object recognition; obstacle detection; unstructured living environment; Arm; Cameras; Electrical capacitance tomography; Grippers; Humanoid robots; Humans; Mobile robots; Nuclear magnetic resonance; Object detection; 3D time-of-flight camera; 6D object localization; manipulation; obstacle detection; stereo vision;

fLanguage

English

Publisher

ieee

Conference_Titel

System Integration, 2008 IEEE/SICE International Symposium on

Conference_Location

Nagoya

Print_ISBN

978-1-4244-3838-9

Electronic_ISBN

978-1-4244-2209-8

Type

conf

DOI

10.1109/SI.2008.4770428

Filename

4770428