Autonomous grasp and manipulation planning using a ToF camera

A time-of-flight camera can help a service robot to sense its 3D environment. In this paper, we introduce our methods for sensor calibration and 3D data segmentation to use it to automatically plan grasps and manipulation actions for a service robot. Impedance control is intensively used to further compensate the modeling error and to apply the computed forces. The methods are further demonstrated in three service robotic applications. Sensor-based motion planning allows the robot to move within dynamic and cluttered environment without collision. Unknown objects can be detected and grasped. In the autonomous ice cream serving scenario, the robot captures the surface of ice cream and plans a manipulation trajectory to scoop a portion of ice cream.

► We combine the data from a 3D camera with the impedance control for a service robot.
► Three planning applications are presented: for movement, grasping and manipulation.
► The disturbance forces are measured and compensated using the impedance control.