Veni Vidi Vici 2014 iCub Summer School

Project: Visually Guided Grasping

Mihai Gânsari

mihai.gansari@acse.pub.ro

VVV14 Project

• First time working with a humanoid robot

• Learn YARP/iCub and other tools

• I used Linux(Ubuntu) and Windows

• Connect and work with the real iCub robot

• Initial goal: Make the robot push/grab an object (ball) by getting the object location programs for robot vision

• Final goal of the project: make the robot grasp and play with an object by playing throwing it from one hand to the other

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Visually Guided Grasping Control System Simple Diagram

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Simulation

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Demo video

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Future Work

• YARP/iCub (in Gazebo Sim) & ROS

• Achieve the final goal in Simulation

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Thanks to the iCub Team and VVV 14 Participants!

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