”Bring it to me” - Generation of Behavior-Relevant Scene Elements for Interactive Robot Scenarios

摘要

Humanoid robots are intended to act and interact in dynamically changing environments in the presence of humans. Current robotic systems are usually able to move in dynamically changing environments because of an inbuilt depth and obstacle sensing. However, for acting in their environment the internal representation of such systems is usually constructed by hand and known in advance. In contrast, this paper presents a system that dynamically constructs its internal scene representation using a model-based vision approach. This enables our system to approach and grasp objects in an previously unknown scene. We combine standard stereo with model-based image fitting techniques for a real-time estimation of the position and orientation of objects. The model-based image processing allows for an easy transfer to the internal, dynamic scene representation. For movement generation we use a task-level whole-body control approach that is coupled with a movement optimization scheme. Furthermore, we present a novel method that constrains the robot to keep certain objects in the FOV while moving. We demonstrate the successful interplay between model-based vision, dynamic scene representation, and movement generation by means of some interactive reaching and grasping tasks.