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

doi:10.1002/acs.2994

	Target recognition of indoor trolley for humanoid robot based on piecewise fitting method
	Zhang, Lei 1; Liu, Huiling 1; Luo, Chengfang 1; Bian, Gui-Bin2 ; Wu, Wanqing 3
发表期刊	INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING
ISSN	0890-6327
	2019-08-01
卷号	33 期号:8 页码:1319-1327
通讯作者	Bian, Gui-Bin(guibin.bian@ia.ac.cn)
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.
关键词	cart pushing heavy load posture control target location target recognition
DOI	10.1002/acs.2994
关键词[WOS]	SEARCH ; POINT
收录类别	SCI
语种	英语
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] ; 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]
项目资助者	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
WOS研究方向	Automation & Control Systems ; Engineering
WOS类目	Automation & Control Systems ; Engineering, Electrical & Electronic
WOS记录号	WOS:000479315600008
出版者	WILEY
七大方向——子方向分类	机器人感知与决策
引用统计	被引频次：7[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/27530
专题	复杂系统认知与决策实验室_先进机器人
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
通讯作者单位	中国科学院自动化研究所
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.