Title :
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
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;
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
DOI :
10.1109/SI.2008.4770428
