Handey: A robot system that recognizes, plans, and manipulates
Tomás Lozano‐Pérez, Joseph L. Jones, Emmanuel Mazer, Patrick A. O'Donnell, W. Eric L. Grimson, Pierre Tournassoud, Alain Lanusse · 2005
We describe a robot system capable of locating a part in an unstructured pile of objects, choose a grasp on the part, plan a motion to reach the part safely, and plan a motion to place the part at a commanded position. The system requires as input a polyhedral world model including models of the part to be manipulated, the robot arm, and any other fixed objects in the environment. In addition, the system builds a depth map, using structured light, of the area where the part is to be found initially. Any other objects present in that area do not have to be modeled.