DocumentCode :
3290702
Title :
Kinect-based robotic manipulation for door opening
Author :
Zhou Li ; Zeyang Xia ; Guodong Chen ; Yangzhou Gan ; Ying Hu ; Jianwei Zhang
Author_Institution :
Center of Cognitive Technol., Shenzhen Inst. of Adv. Technol., Shenzhen, China
fYear :
2013
fDate :
12-14 Dec. 2013
Firstpage :
656
Lastpage :
660
Abstract :
A general framework of robot manipulation planning for door opening task is proposed in this paper. First grasp pattern, including grasp point and method for various door handles, is defined. Second door-opening pattern, including task planning and trajectory planning, is also proposed. This paper utilizes Kinect as a vision sensor to collect point cloud data of the environment. Viewpoint Feature Histogram (VFH) descriptors are used to recognize the type of the door handle. Then corresponding parameters of grasp pattern and door-opening pattern are extracted using Point Cloud processing algorithms. The robot follows the corresponding grasp pattern to grasp the door handle and repeats the motion trajectory to finish each sub operation. Two experiments were conducted to validate the proposed framework.
Keywords :
image sensors; manipulators; motion estimation; path planning; robot vision; service robots; Kinect-based robotic manipulation; VFH; door-opening pattern; grasp pattern; grasp point; motion trajectory; point cloud processing algorithms; robot manipulation planning; task planning; trajectory planning; viewpoint feature histogram; vision sensor; Conferences; Grippers; Planning; Robot sensing systems; Service robots; Trajectory;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2013 IEEE International Conference on
Conference_Location :
Shenzhen
Type :
conf
DOI :
10.1109/ROBIO.2013.6739535
Filename :
6739535
Link To Document :
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