Reactive reaching and grasping on a humanoid: towards closing the action-perception loop on the iCub

Jürgen Leitner; Mikhail Frank; Alexander Förster; Jürgen Schmidhuber

doi:10.5220/0005113401020109

Reactive reaching and grasping on a humanoid: towards closing the action-perception loop on the iCub

Jürgen Leitner, Mikhail Frank, Alexander Förster, Jürgen Schmidhuber

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

6 Citations (Scopus)

Abstract

We propose a system incorporating a tight integration between computer vision and robot control modules on a complex, high-DOF humanoid robot. Its functionality is showcased by having our iCub humanoid robot pick-up objects from a table in front of it. An important feature is that the system can avoid obstacles - other objects detected in the visual stream - while reaching for the intended target object. Our integration also allows for non-static environments, i.e. the reaching is adapted on-the-fly from the visual feedback received, e.g. when an obstacle is moved into the trajectory. Furthermore we show that this system can be used both in autonomous and tele-operation scenarios.

Original language	English
Title of host publication	ICINCO 2014 - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics
Editors	Joaquim Filipe, Joaquim Filipe, Oleg Gusikhin, Kurosh Madani, Jurek Sasiadek
Publisher	Scitepress
Pages	102-109
Number of pages	8
ISBN (Electronic)	9789897580390
DOIs	https://doi.org/10.5220/0005113401020109
Publication status	Published - 2014
Externally published	Yes
Event	International Conference on Informatics in Control, Automation and Robotics 2014 - Vienna, Austria Duration: 1 Sept 2014 → 3 Sept 2014 Conference number: 11th https://www.scitepress.org/ProceedingsDetails.aspx?ID=2tQ+3jxUghE=&t=1 (Proceedings)

Publication series

Name	ICINCO 2014 - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics
Volume	1

Conference

Conference	International Conference on Informatics in Control, Automation and Robotics 2014
Abbreviated title	ICINCO 2014
Country/Territory	Austria
City	Vienna
Period	1/09/14 → 3/09/14
Internet address	https://www.scitepress.org/ProceedingsDetails.aspx?ID=2tQ+3jxUghE=&t=1 (Proceedings)

Keywords

Collision avoidance
Computer vision
Eye-hand coordination
Humanoid robot
Object manipulation
Reactive control
Robot control
Robot perception

Access to Document

10.5220/0005113401020109

Cite this

Leitner, J., Frank, M., Förster, A., & Schmidhuber, J. (2014). Reactive reaching and grasping on a humanoid: towards closing the action-perception loop on the iCub. In J. Filipe, J. Filipe, O. Gusikhin, K. Madani, & J. Sasiadek (Eds.), ICINCO 2014 - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics (pp. 102-109). (ICINCO 2014 - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics; Vol. 1). Scitepress. https://doi.org/10.5220/0005113401020109

Leitner, Jürgen ; Frank, Mikhail ; Förster, Alexander et al. / Reactive reaching and grasping on a humanoid : towards closing the action-perception loop on the iCub. ICINCO 2014 - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics. editor / Joaquim Filipe ; Joaquim Filipe ; Oleg Gusikhin ; Kurosh Madani ; Jurek Sasiadek. Scitepress, 2014. pp. 102-109 (ICINCO 2014 - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics).

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title = "Reactive reaching and grasping on a humanoid: towards closing the action-perception loop on the iCub",

abstract = "We propose a system incorporating a tight integration between computer vision and robot control modules on a complex, high-DOF humanoid robot. Its functionality is showcased by having our iCub humanoid robot pick-up objects from a table in front of it. An important feature is that the system can avoid obstacles - other objects detected in the visual stream - while reaching for the intended target object. Our integration also allows for non-static environments, i.e. the reaching is adapted on-the-fly from the visual feedback received, e.g. when an obstacle is moved into the trajectory. Furthermore we show that this system can be used both in autonomous and tele-operation scenarios.",

keywords = "Collision avoidance, Computer vision, Eye-hand coordination, Humanoid robot, Object manipulation, Reactive control, Robot control, Robot perception",

author = "J{\"u}rgen Leitner and Mikhail Frank and Alexander F{\"o}rster and J{\"u}rgen Schmidhuber",

year = "2014",

doi = "10.5220/0005113401020109",

language = "English",

series = "ICINCO 2014 - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics",

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pages = "102--109",

editor = "Joaquim Filipe and Joaquim Filipe and Oleg Gusikhin and Kurosh Madani and Jurek Sasiadek",

booktitle = "ICINCO 2014 - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics",

address = "Portugal",

note = "International Conference on Informatics in Control, Automation and Robotics 2014, ICINCO 2014 ; Conference date: 01-09-2014 Through 03-09-2014",

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Leitner, J, Frank, M, Förster, A & Schmidhuber, J 2014, Reactive reaching and grasping on a humanoid: towards closing the action-perception loop on the iCub. in J Filipe, J Filipe, O Gusikhin, K Madani & J Sasiadek (eds), ICINCO 2014 - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics. ICINCO 2014 - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics, vol. 1, Scitepress, pp. 102-109, International Conference on Informatics in Control, Automation and Robotics 2014, Vienna, Austria, 1/09/14. https://doi.org/10.5220/0005113401020109

Reactive reaching and grasping on a humanoid: towards closing the action-perception loop on the iCub. / Leitner, Jürgen; Frank, Mikhail; Förster, Alexander et al.
ICINCO 2014 - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics. ed. / Joaquim Filipe; Joaquim Filipe; Oleg Gusikhin; Kurosh Madani; Jurek Sasiadek. Scitepress, 2014. p. 102-109 (ICINCO 2014 - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics; Vol. 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

TY - GEN

T1 - Reactive reaching and grasping on a humanoid

T2 - International Conference on Informatics in Control, Automation and Robotics 2014

AU - Leitner, Jürgen

AU - Frank, Mikhail

AU - Förster, Alexander

AU - Schmidhuber, Jürgen

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N2 - We propose a system incorporating a tight integration between computer vision and robot control modules on a complex, high-DOF humanoid robot. Its functionality is showcased by having our iCub humanoid robot pick-up objects from a table in front of it. An important feature is that the system can avoid obstacles - other objects detected in the visual stream - while reaching for the intended target object. Our integration also allows for non-static environments, i.e. the reaching is adapted on-the-fly from the visual feedback received, e.g. when an obstacle is moved into the trajectory. Furthermore we show that this system can be used both in autonomous and tele-operation scenarios.

AB - We propose a system incorporating a tight integration between computer vision and robot control modules on a complex, high-DOF humanoid robot. Its functionality is showcased by having our iCub humanoid robot pick-up objects from a table in front of it. An important feature is that the system can avoid obstacles - other objects detected in the visual stream - while reaching for the intended target object. Our integration also allows for non-static environments, i.e. the reaching is adapted on-the-fly from the visual feedback received, e.g. when an obstacle is moved into the trajectory. Furthermore we show that this system can be used both in autonomous and tele-operation scenarios.

KW - Collision avoidance

KW - Computer vision

KW - Eye-hand coordination

KW - Humanoid robot

KW - Object manipulation

KW - Reactive control

KW - Robot control

KW - Robot perception

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DO - 10.5220/0005113401020109

M3 - Conference Paper

AN - SCOPUS:84910089630

T3 - ICINCO 2014 - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics

SP - 102

EP - 109

BT - ICINCO 2014 - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics

A2 - Filipe, Joaquim

A2 - Gusikhin, Oleg

A2 - Madani, Kurosh

A2 - Sasiadek, Jurek

PB - Scitepress

Y2 - 1 September 2014 through 3 September 2014

ER -

Leitner J, Frank M, Förster A, Schmidhuber J. Reactive reaching and grasping on a humanoid: towards closing the action-perception loop on the iCub. In Filipe J, Filipe J, Gusikhin O, Madani K, Sasiadek J, editors, ICINCO 2014 - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics. Scitepress. 2014. p. 102-109. (ICINCO 2014 - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics). doi: 10.5220/0005113401020109

Reactive reaching and grasping on a humanoid: towards closing the action-perception loop on the iCub

Abstract

Publication series

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Keywords

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