Abstract
We present a system which can automatically home an upper torso humanoid robot so that its true joint angles are known using only information from a depth camera, coupled with incremental encoders. This means that extra components, such as absolute encoders, resolvers, homing switches etc., are not needed. This in turn means that the cost of the system may be reduced and reliability improved as potential component failures are eliminated. The system uses exploratory moves to locate the robot’s end effector and to measure the pose of the robot’s wrist frame in camera space. Multiple measurements of the wrist frame pose are combined together in a kinematic calibration step to obtain the true joint angles and thus home the robot. We conduct experiments to explore the accuracy and reliability of our homing system, both in simulation and on a physical robotic platform.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Notes
References
Besl, P.J., McKay, N.D.: A method for registration of 3-D shapes. IEEE Trans. Pattern Anal. Mach. Intell. 14, 239–256 (1992)
Broun, A., Beck, C., Pipe, T., Mirmehdi, M., Melhuish, C.: Bootstrapping a robot’s kinematic model. Robotics and Autonomous Systems (2013) (To be published)
Chen, Y., Medioni, G.: Object modeling by registration of multiple range images. In: IEEE International Conference on Robotics and Automation, pp. 2724–2729 (1991)
Craig, J.J.: Introduction to Robotics: Mechanics and Control, 3rd edn. Prentice Hall, Englewood Cliffs (2004)
Hinterstoisser, S., Cagniart, C., Ilic, S., Sturm, P., Navab, N., Fua, P., Lepetit, V.: Gradient response maps for real-time detection of textureless objects. IEEE Trans. Pattern Anal. Mach. Intell. 34, 876–888 (2012)
Jain, J., Jain, A.: Displacement measurement and its application in interframe image coding. IEEE Trans. Commun. 29(12), 1799–1808 (1981)
Jin, Y., Xie, M.: Vision guided homing for humanoid service robot. In: Proceedings 15th International Conference on Pattern Recognition. ICPR-2000, vol. 4, pp. 511–514 (2000)
Nocedal, J., Wright, S.: Numerical Optimization, 2nd edn. Springer, New York (2006)
Santos, J., Bernardino, A., Santos-Victor, J.: Sensor-based self-calibration of the iCub’s head. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5666–5672, October 2010
Siciliano, B., Khatib, O.: Springer Handbook Of Robotics. Springer, Heidelberg (2008)
Acknowledgements
This work was supported by funding from the Leverhulme Trust, project number F/00182/CI.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Broun, A., Beck, C., Pipe, T., Mirmehdi, M., Melhuish, C. (2014). Visual Homing of an Upper Torso Humanoid Robot Using a Depth Camera. In: Natraj, A., Cameron, S., Melhuish, C., Witkowski, M. (eds) Towards Autonomous Robotic Systems. TAROS 2013. Lecture Notes in Computer Science(), vol 8069. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-43645-5_13
Download citation
DOI: https://doi.org/10.1007/978-3-662-43645-5_13
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-662-43644-8
Online ISBN: 978-3-662-43645-5
eBook Packages: Computer ScienceComputer Science (R0)