A shape constraint based visual positioning method for a humanoid robot

CASIA OpenIR > 09年以前成果

	A shape constraint based visual positioning method for a humanoid robot
	Xu, De; Tan, Min; Jiang, Zemin ; Hu, Huosheng
发表期刊	ROBOTICA
	2006-07-01
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：2[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
推荐引用方式 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.