Intelligent flat-and-textureless object manipulation in Service Robots [article]

Abel Pacheco-Ortega, Hugo Estrada, Edgar Vázquez, Reynaldo Martell, Jesús Hernández, Julio Cruz, Edgar Silva, Jesus Savage, Luis Contreras
2018 arXiv   pre-print
This work introduces our approach to the flat and textureless object grasping problem. In particular, we address the tableware and cutlery manipulation problem where a service robot has to clean up a table. Our solution integrates colour and 2D and 3D geometry information to describe objects, and this information is given to the robot action planner to find the best grasping trajectory depending on the object class. Furthermore, we use visual feedback as a verification step to determine if the
more » ... rasping process has successfully occurred. We evaluate our approach in both an open and a standard service robot platform following the RoboCup@Home international tournament regulations.
arXiv:1809.03210v1 fatcat:6bg2o3sk4beq3pm7ku4ecyf5zu