The Roasted Tomato Challenge for a Humanoid Robot

Abstract

The Roasted Tomato Challenge for a Humanoid RobotLagrand, C.; van der Meer, M.; Visser, A. General rightsIt is not permitted to download or to forward/distribute the text or part of it without the consent of the author(s) and/or copyright holder(s), other than for strictly personal, individual use, unless the work is under an open content license (like Creative Commons). Disclaimer/Complaints regulationsIf you believe that digital publication of certain material infringes any of your rights or (privacy) interests, please let the Library know, stating your reasons. In case of a legitimate complaint, the Library will make the material inaccessible and/or remove it from the website. Please Ask the Library: http://uba.uva.nl/en/contact, or a letter to: Library of the University of Amsterdam, Secretariat, Singel 425, 1012 WP Amsterdam, The Netherlands. You will be contacted as soon as possible. Download date: 11 May 2018The Roasted Tomato Challenge for a Humanoid Robot Caitlin Lagrand, Michiel van der Meer and Arnoud Visser Intelligent Robotics Lab, Universiteit van Amsterdam, The Netherlands http://www.intelligentroboticslab.nl/ Abstract-Supporting humans in the kitchen is a difficult task for a humanoid robot. This study focuses on one of the tasks identified in the HUMABOT Challenge; finding a tomato in a kitchen environment and grabbing it from the table. Three detection algorithms are evaluated on their performance to find the tomato without confusion with other vegetables present in the kitchen. Once found, the location of the tomato relative to the humanoid robot is estimated. A planning algorithm is then used to grab the tomato from the table with both arms.