Tomas Lozano-Perez, Joe L. Jones, E. Mazer, Patrick A. O'Donnell, W. Grimson, P. Tournassoud, A. Lanusse
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Handey: A robot system that recognizes, plans, and manipulates
We describe a robot system capable of locating a part in an unstructured pile of objects, choose a grasp on the part, plan a motion to reach the part safely, and plan a motion to place the part at a commanded position. The system requires as input a polyhedral world model including models of the part to be manipulated, the robot arm, and any other fixed objects in the environment. In addition, the system builds a depth map, using structured light, of the area where the part is to be found initially. Any other objects present in that area do not have to be modeled.
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