Toward Human-Like Real-Time Manipulation: From Perception to Motion Planning

Abstract

Human-like behavior is crucial for intelligent service robots that are to perform versatile tasks in day to day life. In this paper, an integrated approach to human-like manipulation is presented, which addresses realtime three-dimensional (3-D) workspace modeling and accessibility analysis for motion planning. The 3-D workspace modeling uses three main principles: identification of global geometric features, substitution of recognized known objects by corresponding solid models in the database and multi-resolution representation of unknown obstacles as required by the task at hand. Accessibility analysis is done through visibility tests. It complements and accelerates general motion planning. The experimental results demonstrate that the human-like behavior-oriented methods are sufficiently fast and robust to model 3-D workspace, and to plan and execute tasks for robotic manipulative applications. Southern California. His research interests include geometric modeling, real-time rendering, and 3-D game design and development. Downloaded by [UNAM Ciudad Universitaria] at 16:35 27 December 2014

A method of picking up a folded fabric product by a single-armed robot

“…Among them, object grasping is difficult and important issue. A conventional approach to robotic grasping in daily assistance assumes to cope with rigid objects, and employs geometrical models, and then cooperates model-based recognition with motion planning [1][2][3]. In this procedure, how to grasp the object is one issue.…”