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Reactive Reaching and Grasping on a Humanoid

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Published on Jun 2, 2014

Video using our MoBeE and icVision frameworks to allow for reactive grasping and obstacle avoidance on the iCub.

more info:
http://robotics.idsia.ch/
http://Juxi.net/projects/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.

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