Grasping Objects From the Floor in Assistive Robotics: Real World Implications and Lessons Learned
This paper presents a system enabling a mobile robot to autonomously pick-up objects a human is pointing at from the floor. The system does not require object models and is designed to grasp unknown objects. The robot decides by itself if an object is suitable for grasping by considering measures of...
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| Format: | Article |
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IEEE
2019-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/8819885/ |
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doaj-6fd57b4cc14d4af687922f68ba4fef272021-03-29T23:15:34ZengIEEEIEEE Access2169-35362019-01-01712372512373510.1109/ACCESS.2019.29383668819885Grasping Objects From the Floor in Assistive Robotics: Real World Implications and Lessons LearnedPaloma De La Puente0https://orcid.org/0000-0002-8652-0300David Fischinger1Markus Bajones2Daniel Wolf3Markus Vincze4Centre for Automation and Robotics, UPM-CSIC, Universidad Politécnica de Madrid, Madrid, SpainAeolus Robotics, Inc., Vienna, AustriaAeolus Robotics, Inc., Vienna, AustriaDAQRI Holographics Research Center, Vienna, AustriaVienna University of Technology (TU Wien), Vienna, AustriaThis paper presents a system enabling a mobile robot to autonomously pick-up objects a human is pointing at from the floor. The system does not require object models and is designed to grasp unknown objects. The robot decides by itself if an object is suitable for grasping by considering measures of size, position and the environment suitability. The implementation is built on the second prototype of the home care robot Hobbit, thereby verifying that complex robotic manipulation tasks can be performed with economical hardware. The presented system was already tested in real apartments with elderly people. We highlight this by discussing the additional complexity for complete autonomous behavior in apartments compared with tests in labs.https://ieeexplore.ieee.org/document/8819885/Autonomous systemsgraspinghuman-robot interactionintelligent robotsmobile robotsservice robots |
| collection |
DOAJ |
| language |
English |
| format |
Article |
| sources |
DOAJ |
| author |
Paloma De La Puente David Fischinger Markus Bajones Daniel Wolf Markus Vincze |
| spellingShingle |
Paloma De La Puente David Fischinger Markus Bajones Daniel Wolf Markus Vincze Grasping Objects From the Floor in Assistive Robotics: Real World Implications and Lessons Learned IEEE Access Autonomous systems grasping human-robot interaction intelligent robots mobile robots service robots |
| author_facet |
Paloma De La Puente David Fischinger Markus Bajones Daniel Wolf Markus Vincze |
| author_sort |
Paloma De La Puente |
| title |
Grasping Objects From the Floor in Assistive Robotics: Real World Implications and Lessons Learned |
| title_short |
Grasping Objects From the Floor in Assistive Robotics: Real World Implications and Lessons Learned |
| title_full |
Grasping Objects From the Floor in Assistive Robotics: Real World Implications and Lessons Learned |
| title_fullStr |
Grasping Objects From the Floor in Assistive Robotics: Real World Implications and Lessons Learned |
| title_full_unstemmed |
Grasping Objects From the Floor in Assistive Robotics: Real World Implications and Lessons Learned |
| title_sort |
grasping objects from the floor in assistive robotics: real world implications and lessons learned |
| publisher |
IEEE |
| series |
IEEE Access |
| issn |
2169-3536 |
| publishDate |
2019-01-01 |
| description |
This paper presents a system enabling a mobile robot to autonomously pick-up objects a human is pointing at from the floor. The system does not require object models and is designed to grasp unknown objects. The robot decides by itself if an object is suitable for grasping by considering measures of size, position and the environment suitability. The implementation is built on the second prototype of the home care robot Hobbit, thereby verifying that complex robotic manipulation tasks can be performed with economical hardware. The presented system was already tested in real apartments with elderly people. We highlight this by discussing the additional complexity for complete autonomous behavior in apartments compared with tests in labs. |
| topic |
Autonomous systems grasping human-robot interaction intelligent robots mobile robots service robots |
| url |
https://ieeexplore.ieee.org/document/8819885/ |
| work_keys_str_mv |
AT palomadelapuente graspingobjectsfromthefloorinassistiveroboticsrealworldimplicationsandlessonslearned AT davidfischinger graspingobjectsfromthefloorinassistiveroboticsrealworldimplicationsandlessonslearned AT markusbajones graspingobjectsfromthefloorinassistiveroboticsrealworldimplicationsandlessonslearned AT danielwolf graspingobjectsfromthefloorinassistiveroboticsrealworldimplicationsandlessonslearned AT markusvincze graspingobjectsfromthefloorinassistiveroboticsrealworldimplicationsandlessonslearned |
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1724189879910268928 |