Title: Intelligent flat-and-textureless object manipulation in Service Robots,
Abstract: This work introduces our approach to the flat and textureless object grasping
problem. In particular, we address the tableware and cutlery manipulation
problem where a service robot has to clean up a table. Our solution integrates
colour and 2D and 3D geometry information to describe objects, and this
information is given to the robot action planner to find the best grasping
trajectory depending on the object class. Furthermore, we use visual feedback
as a verification step to determine if the grasping process has successfully
occurred. We evaluate our approach in both an open and a standard service robot
platform following the RoboCup@Home international tournament regulations.