The Roasted Tomato Challenge for a Humanoid Robot

Supporting humans in the kitchen is a difficult task for a humanoid robot. This study focuses on one of the tasks identified in the HUMABOT Challenge, finding a tomato in a kitchen environment and grabbing it from the table. Three detection algorithms are evaluated on their performance to find the tomato without confusion with other vegetables present in the kitchen. Once found, the location of the tomato relative to the humanoid robot is estimated. A planning algorithm is then used to grab the tomato from the table with both arms.