Robotic hand/eye coordination system in an assisted technology context

Sutono Effendi
The world population is ageing rapidly causing increasing demand for aged care agencies and nurses. Such demand has become a strong drive for researchers to develop new assistive technology devices such as domestic robots. Unlike an industrial robot, a domestic robot faces greater challenges. This research focuses on hand/eye coordination tasks. One critical information required in the planning of a hand/eye coordination task is accurate knowledge of a target object's pose and shape. An
more » ... al robot obtains this information either by using active sensing methods such as laser-based sensors or knowledge-based object modeling methods. These approaches are avoided due for the following reasons. Active sensing methods, although eye-safe, are considered intrusive as a domestic robot shares its workspace with humans. A knowledge-based solution requires a constant updating database which is not feasible for a domestic setting environment. Unfortunately, only very few studies have been conducted to solve issues of hand/eye coordination tasks in a domestic setting using non-intrusive sensing methods. Therefore, it is worth exploring passive sensing methods for hand/eye coordination tasks in a domestic setting. The importance of this research is that domestic robot application is becoming urgent as an assisted technology because the world's population is ageing rapidly. A popular non-intrusive sensing method is passive stereo vision. In addition to this sensor's cost e_ectiveness, it is also predicted to be popular as it is embedded in smart cameras. For these reasons, it is worthwhile conducting further research on stereo vision as it has high potential impacts for many applications. Although a stereo method has been avoided as a 3D sensing method for robotic grasping, particularly in a domestic setting, due to its noisiness and relative inaccuracy, the proposed box modeling method in this research is able to remove stereo data outliers e_ectively. The proposed box model method discards the information about an object [...]
doi:10.4225/03/589021b9860d5 fatcat:mi3tlfikzrbt5f5elskx7pcqii