標題: Mobile Manipulation and Visual Servoing Design of a Configurable Mobile Manipulator
作者: Song, Kai-Tai
Jiang, Sin-Yi
Wu, Ching-Jui
Lin, Ming-Han
Wu, Cheng Hei
Chiu, Yi-Fu
Lin, Chia-How
Lin, Chao-Yu
Liu, Chien-Hung
電控工程研究所
Institute of Electrical and Control Engineering
公開日期: 1-一月-2013
摘要: This paper presents a mobile manipulation and visual servoing design for a configurable mobile manipulator by using a Kinect sensor. To achieve this goal, an image-based grasping design is combined with a visual simultaneous localization and mapping (vSLAM). The proposed vSLAM method is based on extended Kalman filter (EKF) and a Kinect RGBD sensor. In the manipulator design, the robot arms are designed to be able to configure as a handrail for user support in execution of walking assistance tasks. The purpose of this design is to perform mobile manipulation and walking assistance tasks on the same robot. Experiments on the prototype dual-arm mobile manipulator validate that the proposed method can find and grasp a target object after navigation a distance to the object position. After the robot delivered the object to the user, it configured to provide walking assist to the user using the suggested compliance controller.
URI: http://hdl.handle.net/11536/125026
ISBN: 978-1-4799-2384-7; 978-1-4799-2383-0
ISSN: 
期刊: 2013 CACS INTERNATIONAL AUTOMATIC CONTROL CONFERENCE (CACS)
起始頁: 239
結束頁: 244
顯示於類別:會議論文