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Grasping Objects From the Floor in Assistive Robotics: Real World Implications and Lessons Learned

AuthorsPuente, Paloma de la; Fischinger, David; Bajones, Markus; Wolf, Daniel; Vincze, Markus
KeywordsAutonomous systems
Human-robot interaction
Intelligent robots
Issue Date29-Aug-2019
PublisherInstitute of Electrical and Electronics Engineers
CitationIEEE Access 7: 123725-123735 (2019)
AbstractThis paper presents a system enabling a mobile robot to autonomously pick-up objects a human is pointing at from the oor. The system does not require object models and is designed to grasp unknown objects. The robot decides by itself if an object is suitable for grasping by considering measures of size, position and the environment suitability. The implementation is built on the second prototype of the home care robot Hobbit, thereby verifying that complex robotic manipulation tasks can be performed with economical hardware. The presented system was already tested in real apartments with elderly people. We highlight this by discussing the additional complexity for complete autonomous behavior in apartments compared with tests in labs.
Publisher version (URL)http://dx.doi.org/10.1109/ACCESS.2019.2938366
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