Grab a Mug - Object Detection and Grasp Motion Planning with the Nao Robot

Judith Müller, Udo Frese, Thomas Röfer

In: Proceedings of the IEEE-RAS International Conference on Humanoid Robots. IEEE-RAS International Conference on Humanoid Robots (Humanoids-2012) Humanoids and Humans: Towards A New Frontier November 29-December 1 Osaka Japan IEEE 2012.


In this paper we introduce an online grasping system for the Nao robot manufactured by Aldebaran Robotics. The proposed system consists of an object detector and a grasp motion planner. Thereby, known objects are detected by a stereo contour-based object detector and hand motion paths are planned by an A*-based algorithm while avoiding obstacles. Compared to skilled robots such as Justin or ASIMO online grasping with the Nao constitute as particular problem due to the limited processing power and the hand design. The methods proposed allow detecting and grasping objects in realtime on an affordable humanoid robot.

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Deutsches Forschungszentrum für Künstliche Intelligenz
German Research Center for Artificial Intelligence