Call1 Monitoring Graspy

Public Summary Month 5/2012

Mon, 11 Jun 2012 10:31:04 GMT

Detection and grasping of object using the stereovision system were integrated on the Nao robot. The scenario that will be used for its evaluation is the following : Nao takes an object that is proposed by the user. Then the robot will look for a face and come at the good distance and in front of the detected person. When the user asks the object, the robot releases it in a safe way. The evaluation will be carried out with several persons.

Public Summary Month 3/2012

Wed, 28 Mar 2012 13:34:09 GMT

DFKI has implemented the stereo-vision algorithms on Nao. Thanks to a drastic optimization of the software, they have been able to reduce the computation time by a factor of 25 in the estimation of a 3D position of the object that can be computed in 5,5ms. The grasping algorithm previously working with a laser sensor is now working with the stereovision.

Public Summary Month 1/2012

Tue, 21 Feb 2012 09:57:33 GMT

The stereo-vision head for Nao has been delivered to DFKI by Aldebaran Robotics. DFKI started to implement the stereo-vision software that allows computing the 3D position of objects in front of the two cameras. DFKI has developed and optimized a grasping procedure that controls the motion of the hand of Nao and the global motion of its body if the object is not reachable. Aldebaran implemented a releasing function preventing the fall of the object given by the robot to the human.

Public Summary Month 9/2011

Fri, 30 Sep 2011 13:44:25 GMT

During the last period of the ECHORD project GRASPY, the object grasping by a humanoid robot Nao was ameliorated. Tests of object grasping while using a head with stereovision system and a head with laser scanner were launched.

The recent developments can be illustrated by following video: http://www.youtube.com/watch?v=h8iJEbkdIrY

…as you can observe, the grasping “performance” of the robot is already improved. Nao is now changing its body posture to grasp the cup when it is further down or further to the side.

Public Summary Month 7/2011

Fri, 29 Jul 2011 13:33:25 GMT

The mechanical design of the new head of Nao, allowing the synchronous acquisition of two cameras, has been developed and is now being tested. The last developments within the GRASPY project can be illustrated by following videos :

http://www.youtube.com/watch?v=eJAtJoO-Nws

http://www.youtube.com/watch?v=DXFyebblhRY

Public Summary Month 5/2011

Wed, 01 Jun 2011 09:01:42 GMT

In May 2011, Aldebaran Robotics progressed on the development of the stereovision head.

The prototypes of a CPU board allowing the connection of two synchronized cameras are being tested. Furthermore, Aldebaran Robotics is now developing the “face board”. This board interfaces the cameras and other devices (microphones, loudspeakers, leds…) to the carrier board. The mechanical design of the stereo head is under development.

Public Summary Month 2/2011

Wed, 02 Feb 2011 14:59:05 GMT

GRASPY project, targeting to develop stereovision head for humanoid robot Nao permitting the robot to grasp objects autonomously from the hand of a human, started in October 2010. During the first three months of the project, DFKI and Aldebaran Robotics engaged the work of design of the stereovision head and the development of software. The first approach for grasping objects has been implemented using existing software for plain object detection with a monocular vision system. Also, partners have determined the final scenario of the experiment: humanoid robot Nao and human exchanging different objects. The robot will take objects from human’s hand and will grasp objects in front of him and will hand it to the human.