Skip to main content
SpringerLink
Log in
Book cover

Iberian Robotics conference

ROBOT 2017: ROBOT 2017: Third Iberian Robotics Conference pp 613–624Cite as

Detecting and Manipulating Objects with a Social Robot: An Ambient Assisted Living Approach

  • Conference paper
  • First Online:

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 693))

Abstract

Object grasping in domestic environments using social robots has an enormous potential to help dependant people with certain degree of disability. In this work, we made use of the well-known Pepper social robot to carry out such task. We provide an integrated solution using ROS to recognize and grasp simple objects. That system was deployed on an accelerator platform (Jetson TX1) to be able to perform object recognition in real time using RGB-D sensors attached to the robot. By using our system, we proved that the Pepper robot shows a great potential for such kind of domestic assistance tasks.

This is a preview of subscription content, log in via an institution.

Chapter
USD   29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD   169.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD   219.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Learn about institutional subscriptions

References

  1. Aldoma, A., Tombari, F., Di Stefano, L., Vincze, M.: A global hypotheses verification method for 3d object recognition. In: Computer Vision-ECCV 2012, pp. 511–524 (2012)

    Google Scholar 

  2. Bicchi, A., Kumar, V.: Robotic grasping and contact: a review. In: IEEE International Conference on Robotics and Automation, Proceedings, ICRA 2000, vol. 1, pp. 348–353. IEEE (2000)

    Google Scholar 

  3. Bohg, J., Morales, A., Asfour, T., Kragic, D.: Data-driven grasp synthesis–a survey. IEEE Trans. Robot. 30(2), 289–309 (2014)

    Article  Google Scholar 

  4. Bronstein, A., Bronstein, M., Ovsjanikov, M.: 3d features, surface descriptors, and object descriptors. 3D Imaging, Analysis, and Applications (2010)

    Google Scholar 

  5. Diankov, R.: Automated construction of robotic manipulation programs. Ph.D. thesis, Carnegie Mellon University, Robotics Institute, August 2010

    Google Scholar 

  6. Diankov, R., Kuffner, J.: Openrave: a planning architecture for autonomous robotics. Robotics Institute, Pittsburgh, PA, Technical report CMU-RI-TR-08-34 79 (2008)

    Google Scholar 

  7. Ekvall, S., Kragic, D.: Learning and evaluation of the approach vector for automatic grasp generation and planning. In: 2007 IEEE International Conference on Robotics and Automation, pp. 4715–4720. IEEE (2007)

    Google Scholar 

  8. Garcia-Garcia, A., Orts-Escolano, S., Garcia-Rodriguez, J., Cazorla, M.: Interactive 3d object recognition pipeline on mobile gpgpu computing platforms using low-cost rgb-d sensors. J. Real-Time Image Process, 1–20 (2016)

    Google Scholar 

  9. Garcia-Garcia, A., Orts-Escolano, S., Oprea, S., Garcia-Rodriguez, J., Azorin-Lopez, J., Saval-Calvo, M., Cazorla, M.: Multi-sensor 3d object dataset for object recognition with full pose estimation. Neural Comput. Appl. 28(5), 941–952 (2017)

    Article  Google Scholar 

  10. Guo, Y., Bennamoun, M., Sohel, F., Lu, M., Wan, J.: 3d object recognition in cluttered scenes with local surface features: a survey. IEEE Trans. Pattern Anal. Mach. Intell. 36(11), 2270–2287 (2014)

    Article  Google Scholar 

  11. Kamon, I., Flash, T., Edelman, S.: Learning to grasp using visual information. In: 1996 IEEE International Conference on Robotics and Automation, Proceedings, vol. 3, pp. 2470–2476. IEEE (1996)

    Google Scholar 

  12. Kroemer, O., Detry, R., Piater, J., Peters, J.: Combining active learning and reactive control for robot grasping. Robot. Auton. Syst. 58(9), 1105–1116 (2010)

    Article  Google Scholar 

  13. Miller, A.T., Allen, P.K.: Graspit! a versatile simulator for robotic grasping. IEEE Robot. Autom. Mag. 11(4), 110–122 (2004)

    Article  Google Scholar 

  14. Tombari, F., Salti, S., Di Stefano, L.: Unique signatures of histograms for local surface description. In: European Conference on Computer Vision, pp. 356–369. Springer (2010)

    Google Scholar 

Download references

Acknowledgements

This work has been funded by the Spanish Government TIN2016-76515-R grant for the COMBAHO project, supported with Feder funds. It has also been supported by the University of Alicante project GRE16-19.

Author information

Authors and Affiliations

  1. Department of Computer Technology, University of Alicante, Alicante, Spain

    John Alejandro Castro-Vargas, Alberto Garcia-Garcia, Sergiu Oprea & Jose Garcia-Rodriguez

  2. Department of Computer Science and Artificial Intelligence, University of Alicante, Alicante, Spain

    Sergio Orts-Escolano

Authors
  1. John Alejandro Castro-Vargas
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Alberto Garcia-Garcia
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Sergiu Oprea
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Sergio Orts-Escolano
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Jose Garcia-Rodriguez
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to John Alejandro Castro-Vargas .

Editor information

Editors and Affiliations

  1. Escuela Técnica Superior de Ingeniería, Universidad de Sevilla, Sevilla, Spain

    Anibal Ollero

  2. Institut de Robòtica I Informàtica Industrial (CSIC-UPC), Universitat Politècnica de Catalunya, Barcelona, Spain

    Alberto Sanfeliu

  3. Departamento de Informática e Ingeniería de Sistemas, Escuela de Ingeniería y Arquitectura, Instituto de Investigación en Ingeniería de Aragón, Zaragoza, Spain

    Luis Montano

  4. Institute of Electronics and Telematics Engineering of Aveiro (IEETA), Universidade de Aveiro, Aveiro, Portugal

    Nuno Lau

  5. IDMEC, Instituto Superior Técnico de Lisboa, Universidade de Lisboa, Lisbon, Portugal

    Carlos Cardeira

Rights and permissions

Reprints and permissions

Copyright information

© 2018 Springer International Publishing AG

About this paper

Check for updates. Verify currency and authenticity via CrossMark

Cite this paper

Castro-Vargas, J.A., Garcia-Garcia, A., Oprea, S., Orts-Escolano, S., Garcia-Rodriguez, J. (2018). Detecting and Manipulating Objects with a Social Robot: An Ambient Assisted Living Approach. In: Ollero, A., Sanfeliu, A., Montano, L., Lau, N., Cardeira, C. (eds) ROBOT 2017: Third Iberian Robotics Conference. ROBOT 2017. Advances in Intelligent Systems and Computing, vol 693. Springer, Cham. https://doi.org/10.1007/978-3-319-70833-1_50

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-70833-1_50

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-70832-4

  • Online ISBN: 978-3-319-70833-1

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation