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Chapter 7
Integration
In chapter 7, perception and control are integrated to realize a domestic humanoid
robot capable of performing interactive tasks with unknown objects in an
unstructured environment. Two domestic tasks are implemented to evaluate the
performance of the robot, and supplimental results are presented below.
Experiment 1: Grasping an Unknown Object (Section 7.3)
In this first experiment, Metalman is given the task: "fetch the yellow box", ie.
retrieve an object from a cluttered scene that has only been specified by generic
class (box) and feature (yellow). No other information is initially known (apart
from prior autonomous calibration of the light stripe scanner and approximate
hand-eye transformation), and the manipulator is initially outside the field of view.
The VRML and MPEG results presented below show the initial raw colour/range scan, extracted
objects, and grasp execution as seen through the right camera.
Experiment 2: Pouring Task (Section 7.4)
In the second experiment, Metalman is required to grasp a cup (filled with rice)
that has been interactively selected by the user and pour the contents into a bowl,
under similar conditions to those described above. This experiment simulates the
type of interaction that might be necessary when ambiguous or incomplete task
specifications are encountered, ie. Metalman has insufficient information to
determine which cup contains the rice.
As before, the VRML and MPEG results provided below show the initial raw
colour/range scan, extracted objects, and task execution as seen through
the right camera.
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