Object Detection and Probabilistic Object Representation for Grasping with Two Arms

Abstract

This chapter explains a technique for detection and grasping of objects using two arms of an aerial robot. The method robustly obtains the 6D pose of the robot to grasp it regardless the environment. The method is based on modeling the objects surfaces under the probabilistic framework of Gaussian Processes. A probabilistic framework has been proposed to tackle the problem of shape uncertainty when the robot has partial information about the object to be manipulated. This uncertainty is modeled using GPIS and evaluated using the quality metric: probability of force closure.