Look-up table based task planning for humanoid robot

Abstract

Humanoid robot CENTAUR that was developed at Korea Institute of Science and Technology consists of a head, two arms, a trunk, two hands and four legs. In addition to its human-like kinematical structure, it has some sensing units like stereovision system for resembling human sensory organs. By using the stereo vision a three dimensional pose determination algorithm was developed and integrated to the robot controller. With the imported object information from vision system the task planner autonomously determines reliable motion and grasp sequence of the robot. This planner considers the collision and regrasping cases in order to guarantee a complete planning of the pick and place movement in the total robot workspace. An off-line constructed lookup table enables a fast grasp planning for any kind of robot configuration. A comprehensive experiment was accomplished to evaluate the proposed algorithm.