Cooperating robot with visual and tactile skills

摘要

The goal of the project was the design of a robot able to work in unstructured environments with a human operator. One benchmark problem chosen for this robot was to clear dishes from the trays in the canteen and put them into a dishwasher. Another benchmark test was aimed at the sorting sorting of parcels. The project includes the development of a tactile gripper, controlled by a neural network, as well as safety and interface concepts for the cooperation between operator and robot. A vision system using software and hardware tools to analyze complex 3D scenes and a fast, precise range-image sensor to capture 3D images are presented.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>