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Gearing up and accelerating cross‐fertilization between academic and industrial robotics research in Europe: pp 177–195Cite as

GRASPY – Object Manipulation with NAO

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Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 94))

Abstract

In this paper we introduce an online object manipulation system for the NAO robot that is able to detect and grasp an object out of a human hand and then give it back in real-time. Known objects are rendered from 3D models and detected stereo contour-based by using a new stereo vision head for NAO. In order to grasp objects, motion trajectories are generated by an A* planner while avoiding obstacles. In order to safely release objects back into a human hand, a combination of tactile and force sensors of the carrying arm is used to detect whether someone touched the grasped object. We performed quantitative experiments in order to evaluate the quality of the detector, the time to grasp an object, as well as the number of successful grasps. We demonstrated the whole system on the real robot.

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Author information

Authors and Affiliations

  1. Transregional Collaborative Research Center for Spatial Cognition, SFB/TR8, University of Bremen, Bremen, Germany

    Judith Müller

  2. Deutsches Forschungszentrum für Künstliche Intelligenz, Cyber Physical Systems, Bremen, Germany

    Udo Frese & Thomas Röfer

  3. Aldebaran Robotics, Paris, France

    Rodolphe Gelin & Alexandre Mazel

Authors
  1. Judith Müller
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  2. Udo Frese
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  3. Thomas Röfer
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  4. Rodolphe Gelin
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  5. Alexandre Mazel
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Corresponding author

Correspondence to Judith Müller .

Editor information

Editors and Affiliations

  1. Department of Informatics VI, Technische Universität München, Garching, Germany

    Florian Röhrbein

  2. Feup Campus, Inesc Porto, Porto, Portugal

    Germano Veiga

  3. Dipartimento di Ingegneria Industriale e dell’Informazione, Seconda Università degli Studi di Napoli, Aversa, Italy

    Ciro Natale

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© 2014 Springer International Publishing Switzerland

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Müller, J., Frese, U., Röfer, T., Gelin, R., Mazel, A. (2014). GRASPY – Object Manipulation with NAO. In: Röhrbein, F., Veiga, G., Natale, C. (eds) Gearing up and accelerating cross‐fertilization between academic and industrial robotics research in Europe:. Springer Tracts in Advanced Robotics, vol 94. Springer, Cham. https://doi.org/10.1007/978-3-319-02934-4_9

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  • DOI: https://doi.org/10.1007/978-3-319-02934-4_9

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-02933-7

  • Online ISBN: 978-3-319-02934-4

  • eBook Packages: EngineeringEngineering (R0)

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