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Robot-to-human feedback and automatic object grasping using an RGB-D camera–projector system

Published online by Cambridge University Press:  23 August 2017

Jinglin Shen  and
Nicholas Gans
Jinglin Shen
Affiliation:
Apple Inc., Cupertino, CA, USA. E-mail: [email protected]
Nicholas Gans*
Affiliation:
Department of Electrical Engineering, University of Texas at Dallas, Dallas, TX, USA
*
*Corresponding author. E-mail: [email protected]
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Summary

This paper presents a novel system for human–robot interaction in object-grasping applications. Consisting of an RGB-D camera, a projector and a robot manipulator, the proposed system provides intuitive information to the human by analyzing the scene, detecting graspable objects and directly projecting numbers or symbols in front of objects. Objects are detected using a visual attention model that incorporates color, shape and depth information. The positions and orientations of the projected numbers are based on the shapes, positions and orientations of the corresponding objects. Users select a grasping target by indicating the corresponding number. Projected arrows are then created on the fly to guide a robotic arm to grasp the selected object using visual servoing and deliver the object to the human user. Experimental results are presented to demonstrate how the system is used in robot grasping tasks.

Keywords

Human–robot interactionVisual servoingObject grasping
Type
Articles
Information
Robotica , Volume 36 , Issue 2 , February 2018 , pp. 241 - 260
Copyright
Copyright © Cambridge University Press 2017 

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