Image-based object recognition and dexterous hand/arm motion planning using RRTs for grasping in cluttered scene

This paper describes a new approach to realize grasping of an unknown object by a dexterous hand robot among freely placed multiple unknown objects even if they are occluded each other. This technology consists of major three functions: 1) image-based 3D reconstruction and separation of multiple objects using graph-cut theory, 2) recognition of the shape, size and orientation of each object as an object with primitive shape, i.e. either of box, cylinder or sphere, 3) multigoal and multicriteria path planning for 7 DOF arm with 13 DOF dexterous hand using enhanced RRTs (rapidly exploring random trees) algorithm to cope with multiple possible grasping strategy according to the object shape and orientation.

[1]  Jean Ponce,et al.  Computer Vision: A Modern Approach , 2002 .

[2]  M. Levas.  OBBTree : A Hierarchical Structure for Rapid Interference Detection , .

[3]  S. Shankar Sastry,et al.  A mathematical introduction to robotics manipulation , 1994 .

[4]  B. Faverjon,et al.  Probabilistic Roadmaps for Path Planning in High-Dimensional Con(cid:12)guration Spaces , 1996 .

[5]  Steven M. LaValle,et al.  RRT-connect: An efficient approach to single-query path planning , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[6]  Jitendra Malik,et al.  Normalized cuts and image segmentation , 1997, Proceedings of IEEE Computer Society Conference on Computer Vision and Pattern Recognition.

[7]  M. Inaba,et al.  Humanoid arm motion planning using stereo vision and RRT search , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[8]  Masayuki Inaba,et al.  Dynamically-Stable Motion Planning for Humanoid Robots , 2002, Auton. Robots.

[9]  Richard M. Murray,et al.  A Mathematical Introduction to Robotic Manipulation , 1994 .

[10]  Jean-Claude Latombe,et al.  Autonomous agents for real-time animation , 1999 .

[11]  Mongi A. Abidi,et al.  Perception-based 3D triangle mesh segmentation using fast marching watersheds , 2003, 2003 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2003. Proceedings..

[12]  Cordelia Schmid,et al.  3D object modeling and recognition using affine-invariant patches and multi-view spatial constraints , 2003, 2003 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2003. Proceedings..

[13]  S. LaValle.  Rapidly-exploring random trees : a new tool for path planning , 1998 .

[14]  Robert C. Bolles,et al.  Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography , 1981, CACM.

[15]  Roberto Cipolla,et al.  Visually guided grasping in unstructured environments , 1997, Robotics Auton. Syst..

[16]  S. LaValle,et al.  Randomized Kinodynamic Planning , 2001 .

[17]  Andrew E. Johnson,et al.  Using Spin Images for Efficient Object Recognition in Cluttered 3D Scenes , 1999, IEEE Trans. Pattern Anal. Mach. Intell..

[18]  Danica Kragic,et al.  Vision and tactile sensing for real world tasks , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[19]  Takeo Kanade,et al.  A Multiple-Baseline Stereo , 1993, IEEE Trans. Pattern Anal. Mach. Intell..

[20]  Lydia E. Kavraki,et al.  Probabilistic roadmaps for path planning in high-dimensional configuration spaces , 1996, IEEE Trans. Robotics Autom..

[21]  Suguru Arimoto,et al.  Dexterous manipulation of an object by means of multi-DOF robotic fingers with soft tips , 2002, J. Field Robotics.

[22]  John J. Craig Zhu,et al.  Introduction to robotics mechanics and control , 1991 .