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Target recognition of indoor trolley for humanoid robot based on piecewise fitting method

文献类型：期刊论文

作者Zhang, Lei1; Liu, Huiling1; Luo, Chengfang1; Bian, Gui-Bin2; Wu, Wanqing3
刊名INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING
出版日期2019-08-01
卷号33期号:8页码:1319-1327
关键词cart pushing heavy load posture control target location target recognition
ISSN号0890-6327
DOI10.1002/acs.2994
通讯作者Bian, Gui-Bin(guibin.bian@ia.ac.cn)
英文摘要Although several studies have considered the problem of humanoid robots pushing carts, only a few have focused on the problem of robots moving heavy objects under monocular vision. This study proposes a target recognition and positioning method and a control method for a robot pushing a loaded trolley. A control system based on the humanoid robot NAO is developed and a monocular visual ranging method with segmented fitting is proposed to realize hardware control and target search and positioning for NAO. The ability of NAO to push a small cart with various weights using visual positioning is tested. The experimental results show that the average error of the monocular distance measurement method is 1.7 mm and that the target search and positioning is accurate. NAO can push a loaded cart that is 6.5 times its own weight.
WOS关键词SEARCH ; POINT
资助项目National Natural Science Foundation of China[61473027] ; Beijing Key Laboratory of Robot Bionics and Function Research[BZ0337] ; Youth Innovation Promotion Association of the Chinese Academy of Sciences[2018165]
WOS研究方向Automation & Control Systems ; Engineering
语种英语
WOS记录号WOS:000479315600008
出版者WILEY
资助机构National Natural Science Foundation of China ; Beijing Key Laboratory of Robot Bionics and Function Research ; Youth Innovation Promotion Association of the Chinese Academy of Sciences
源URL[http://ir.ia.ac.cn/handle/173211/27529]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者Bian, Gui-Bin
作者单位1.Beijing Univ Civil Engn & Architecture, Sch Elect & Informat Engn, Beijing, Peoples R China
2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
3.SIAT, CAS Key Lab Human Machine Intelligence Synergy Sy, Shenzhen, Peoples R China
推荐引用方式
GB/T 7714		 Zhang, Lei,Liu, Huiling,Luo, Chengfang,et al. Target recognition of indoor trolley for humanoid robot based on piecewise fitting method[J]. INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING,2019,33(8):1319-1327.
APA Zhang, Lei,Liu, Huiling,Luo, Chengfang,Bian, Gui-Bin,&Wu, Wanqing.(2019).Target recognition of indoor trolley for humanoid robot based on piecewise fitting method.INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING,33(8),1319-1327.
MLA Zhang, Lei,et al."Target recognition of indoor trolley for humanoid robot based on piecewise fitting method".INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING 33.8(2019):1319-1327.

入库方式： OAI收割

来源：自动化研究所

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