標題: Vision-Based Grasp Planning and Experiments of a Mobile Manipulator
作者: Chiu, Yi-Fu
Song, Kai-Tai
電控工程研究所
Institute of Electrical and Control Engineering
關鍵字: Mobile manipulation;visual servoing;visual navigation;robot grasping
公開日期: 2015
摘要: In this paper, a motion planner is designed and implemented for of a mobile manipulator to travel to a spot for grasping of an object. In this work, the probability of successful grasping inside the workspace of the robot arm is used for grasping planning. A vision SLAM system is combined with reachability calculation to figure out the grasping position. Using a laboratory dual-arm robot, we conducted experiments in different conditions to verify the effectiveness of the developed system.
URI: http://hdl.handle.net/11536/136219
ISBN: 978-4-9902880-9-9
期刊: PROCEEDINGS OF INTERNATIONAL CONFERENCE ON ARTIFICIAL LIFE AND ROBOTICS (ICAROB2015)
起始頁: 145
結束頁: 148
Appears in Collections:Conferences Paper