Vision-Based Grasp Planning and Experiments of a Mobile Manipulator

dc.citation.epage	148	en_US
dc.citation.spage	145	en_US
dc.citation.woscount	0	en_US
dc.contributor.author	Chiu, Yi-Fu	en_US
dc.contributor.author	Song, Kai-Tai	en_US
dc.contributor.department	電控工程研究所	zh_TW
dc.contributor.department	Institute of Electrical and Control Engineering	en_US
dc.date.accessioned	2017-04-21T06:49:29Z
dc.date.available	2017-04-21T06:49:29Z
dc.date.issued	2015	en_US
dc.description.abstract	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.	en_US
dc.identifier.isbn	978-4-9902880-9-9	en_US
dc.identifier.journal	PROCEEDINGS OF INTERNATIONAL CONFERENCE ON ARTIFICIAL LIFE AND ROBOTICS (ICAROB2015)	en_US
dc.identifier.uri	https://ir.lib.nycu.edu.tw/handle/11536/136219
dc.identifier.wosnumber	WOS:000383847900034	en_US
dc.language.iso	en_US	en_US
dc.subject	Mobile manipulation	en_US
dc.subject	visual servoing	en_US
dc.subject	visual navigation	en_US
dc.subject	robot grasping	en_US
dc.title	Vision-Based Grasp Planning and Experiments of a Mobile Manipulator	en_US
dc.type	Proceedings Paper	en_US

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