Humanoid Grasping with RGB-D Perception
3D object pose estimation and manipulation using a humanoid robot
In this robotics project, I worked on object grasping using a humanoid platform equipped with an RGB-D camera. The system processed depth data and solved inverse kinematics to enable a bottle-grasping task.
Main contributions
- Processed Intel RealSense data for 3D pose estimation of objects.
- Used the robot URDF to solve inverse kinematics for precise motion execution.
- Executed a bottle-grasping task on the humanoid platform.
Technical focus
This project strengthened my experience in robot perception, kinematic modeling, and real-world manipulation behaviors.