Embedded Vision-Based Autonomous Move-to-Grasp Approach for a Mobile Manipulator
文献类型：期刊论文
| 作者 | Jiao, Jile1; Ye, Shuguang; Cao, Zhiqiang1 ; Gu, Nong2; Liu, Xilong1; Tan, Min1
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| 刊名 | INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
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| 出版日期 | 2012-12-19 |
| 卷号 | 9 |
| 关键词 | Mobile manipulator Embedded vision Move-to-grasp Bezier curve |
| 英文摘要 | This paper proposes a vision-based autonomous move-to-grasp approach for a compact mobile manipulator under some low and small environments. The visual information of specified object with a radial symbol and an overhead colour block is extracted from two CMOS cameras in an embedded way. Furthermore, the mobile platform and the postures of the manipulator are adjusted continuously by vision-based control, which drives the mobile manipulator approaching the object. When the mobile manipulator is sufficiently close to the object, only the manipulator moves to grasp the object based on the incremental movement with its head end centre of the end-effector conforming to a Bezier curve. The effectiveness of the proposed approach is verified by experiments. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Robotics |
| 研究领域[WOS] | Robotics |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000312911700001 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/3496]  |
| 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 |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing, Peoples R China 2.Deakin Univ, Ctr Intelligent Syst Res, Waurn Ponds, Vic, Australia |
| 推荐引用方式 GB/T 7714 | Jiao, Jile,Ye, Shuguang,Cao, Zhiqiang,et al. Embedded Vision-Based Autonomous Move-to-Grasp Approach for a Mobile Manipulator[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2012,9. |
| APA | Jiao, Jile,Ye, Shuguang,Cao, Zhiqiang,Gu, Nong,Liu, Xilong,&Tan, Min.(2012).Embedded Vision-Based Autonomous Move-to-Grasp Approach for a Mobile Manipulator.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,9. |
| MLA | Jiao, Jile,et al."Embedded Vision-Based Autonomous Move-to-Grasp Approach for a Mobile Manipulator".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 9(2012). |
入库方式： OAI收割
来源：自动化研究所
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