Open document
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General information |
| Author |
Jiao, Jile; Y, Shuguang; Cao, Zhiqiang; Gu, Nong; Liu, Xilong; Tan, Min |
| Published |
InTech Open Access Publisher, 2012
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| Abstract |
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 endeffector
conforming to a Bezier curve. The effectiveness of
the proposed approach is verified by experiments. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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