人型机器人的自主抓取能力研究——基于NAO机器人.pdfVIP

AUTONOMOUS GRASPING WITH NAO Pr. Axel Pinz / Thomas Höll, Inst. of Electrical Measurement and Measurement Signal Processing Graz University of Technology – Graz (Austria) I am in charge of the Vision Based Measurement Group at Graz University of Technology. The research group is focused on two main areas: Object Category Recognition Detection; and Structure Motion Analysis. We have excellent first results on “active object categorization” with NAO, where NAO is handed an object, inspects it visually, and classifies the object category. To explore object detection, manipulation, and recognition further, it is desirable to develop autonomous grasping capabilities on NAO. While NAO has quite versatile arms, hands and fingers, autonomous grasping of objects with NAO poses a number of hard problems. First, there is (still, although the longer arms of V3 have certainly improved this issue) a rather limited area that can be confidently reached by NAO’s arms. Second, there is the pincer-shape of the three fingers, and only one degree of freedom (open/close) in grasping. Third, NAO’s monocular vision and rather limited computational power call for a slim, reconstruction-free approach. Therefore, we restrict ourselves to a study case, where NAOs “world” is unsaturated, in terms of Grasping from a table color, i.e. white or grey walls, table surfaces, floor. Furthermore, the objects to be grasped are limited to highly saturated, coloured (red, green, blue) foam cubes. We have addressed the autonomous grasping problem in two distinct steps: 1. Grasping from a small table in front of NAO. NAO is cowering behind the table, and only NAO’s arms are actuated. The area of reach is limited to the part of the table that is in the field of view of the bottom camera. This task addre