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A shape constraint based visual positioning method for a humanoid robot
Xu, De; Tan, Min; Jiang, Zemin; Hu, Huosheng
Source PublicationROBOTICA
2006-07-01
Volume24Pages:429-431
SubtypeArticle
AbstractThis paper proposes a new visual positioning method for a humanoid robot to approach and grasp a valve based on colour and shape constraints. The robot has two cameras in its head and uses constraints of colour rectangle marks to determine the valve's position and pose. When the hands are near the valve, an image-based visual servoing method is employed to catch the handle of the valve via cameras in end-effectors. Experimental results are presented to verify the effectiveness of the proposed method.
KeywordVisual Positioning Visual Control Hand-eye System Autonomous Manipulation Mobile Manipulator
WOS HeadingsScience & Technology ; Technology
Indexed BySCI
Language英语
WOS Research AreaRobotics
WOS SubjectRobotics
WOS IDWOS:000239579800004
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/9355
Collection09年以前成果
Affiliation1.Univ Essex, Dept Comp Sci, Colchester CO4 3SQ, Essex, England
2.Chinese Acad Sci, Inst Automat, Lab Complex Syst & Intelligence Sci, Beijing 100080, Peoples R China
Recommended Citation
GB/T 7714
Xu, De,Tan, Min,Jiang, Zemin,et al. A shape constraint based visual positioning method for a humanoid robot[J]. ROBOTICA,2006,24:429-431.
APA Xu, De,Tan, Min,Jiang, Zemin,&Hu, Huosheng.(2006).A shape constraint based visual positioning method for a humanoid robot.ROBOTICA,24,429-431.
MLA Xu, De,et al."A shape constraint based visual positioning method for a humanoid robot".ROBOTICA 24(2006):429-431.
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