Embedded Vision-Based Autonomous Move-to-Grasp Approach for a Mobile Manipulator

	Embedded Vision-Based Autonomous Move-to-Grasp Approach for a Mobile Manipulator
	Jiao, Jile 1; Ye, Shuguang ; Cao, Zhiqiang1 ; Gu, Nong 2; Liu, Xilong1 ; Tan, Min1
发表期刊	INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
	2012-12-19
卷号	9
文章类型	Article
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.
关键词	Mobile Manipulator Embedded Vision Move-to-grasp Bezier Curve
WOS标题词	Science & Technology ; Technology
收录类别	SCI
语种	英语
WOS研究方向	Robotics
WOS类目	Robotics
WOS记录号	WOS:000312911700001
引用统计	被引频次：8[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/173211/3496
专题	复杂系统认知与决策实验室_先进机器人
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
第一作者单位	中国科学院自动化研究所
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).