Grasping Target Localization of Humanoid Robot Based on Kinect Sensor

Target localization is the premise for a humanoid robot to accomplish grasping operation. Aiming at the problems that the robot monocular vision is easy to lose depth information and the binocular vision is difficult to effectively obtain the depth information of textureless objects, a target localization system is provided for humanoid robot grasping based on Kinect. First of all, Kinect and the robot coordinates were established, and the Bursa coordinate transformation model which solved by the linear total least squares (LTLS) algorithm was constructed. The grasping points sensed by Kinect were coordinated to the robot coordinate system, thus achieving the goal that the robot positioning target object. Finally, the system scheme was experimentally verified on the humanoid robot NAO. The results show that the robot can locate the target in real time and reliably within a certain space through the method, which is more accurate than the robot monocular vision. According to the target localization system provided, NAO robot accomplished the task of grasping different objects.