Systematic Touch Scheme for a Humanoid Robot to Grasp a Door Knob
This paper deals with the practical problem as to how a humanoid robot opens a door in an office environment. Among the several tasks for the door opening, we focus on the recognition of a door and grasping its knob and propose a systematic touch scheme that combines the visual and touch data to grasp a knob safely and robustly. The visual recognition of a door and its knob is done by feature matching by a feature classifier and a segmentation method with minor assumptions about a knob, respectively. The position of a knob from the visual recognition is refined by the proposed touch scheme where a robot touches a knob several times with a hand equipped with a force-torque sensor. We realize that in the on-line experiment, a robot recognizes a door and its knob, and grasps the knob and partially opens the door.
Hitoshi Arisumi Nosan Kwak Kazuhito Yokoi
Humanoid Research Group and CNRS-AIST Joint Robotics Laboratory,UMI3218/CRT CNRS-AIST Joint Robotics Laboratory,UMI3218/CRT,Intelligent Systems Research Institute,National Inst
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
3324-3331
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）