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A shape constraint based visual positioning method for a humanoid robot
Xu, De; Tan, Min; Jiang, Zemin; Hu, Huosheng
2006-07-01
发表期刊ROBOTICA
卷号24页码:429-431
文章类型Article
摘要This 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.
关键词Visual Positioning Visual Control Hand-eye System Autonomous Manipulation Mobile Manipulator
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:000239579800004
引用统计
被引频次:1[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/173211/9355
专题09年以前成果
作者单位1.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
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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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