Abstract
This paper presents a method to generate vision and task based robot manipulator trajectories. In the framework of the research on daily assistive robots the task formulated for this work consists in picking shopping goods and placing them into a cart. For object recognition SIFT keypoint tracking in combination with stereo vision is used. A collision free trajectory between two waypoints is generated based on a 3D-gridmap of the environment in front of the robot. A trajectory generation loop is implemented using resolved motion rate control and attractor coordinate frames that define the waypoints of the trajectory. The proposed method was tested on the humanoid robot HRP2-JSK.
