NAO greift - Explorieren und Greifen unbekannter Objekte auf einem performanzlimitierten humanoiden Roboter mit Hilfe vorberechneter Tabellen

Abstract

Why can't I buy a flower watering robot? No unusual question considering that there are already affordable vacuum cleaner and lawn mower robots available. Thus the next questions are, what requirements must be met by a flower watering robot and does it take a high-priced research robot to do it? As the activity of flower watering contains a variety of difficult tasks this work is concentrated on the intermediate step of autonomously exploring, detecting and grasping an unknown object such as a watering can. In particular, an overall system is introduced that enables this functionality for the performance-limited humanoid robot NAO. Furthermore, the presented system operates online and thus without external computation at runtime. In order to increase the system performance several precomputed tables containing the workspaces of different body parts are used. Moreover, the precomputed workspace constitutes as a central element as it is not only used for motion planning but also for the viewpoint planning. Furthermore, the workspace provides a connection between the very limited degrees of freedom and the need of mobility in reality.