Object Manipulation for Assistive Robots

摘要

In robotic assistive environments, several capabilities are required, such as autonomous navigation, scene understanding and object manipulation that must be performed in safe condition. The paper presents a method for object manipulation based on the automatic identification of grasping points for a set of common objects, using colour and depth images acquired by the robot camera. Evaluation was performed in a simulation environment using the model of the TIAGo robot.