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In this paper, the method of indoor mobile robot's visual localization is studied. In an active vision system, the robot equipped with a camera can be controlled and regulated in two degree of freedom platform, the camera optical axis always points to the center of the target to ensure mobile robot can be precisely positioned in large field motion. In this paper, a method based on rectangular object...
A system of Kinect-based people following for mobile robots is presented. The function of skeleton tracking of Kinect, a 3D somatosensory camera, is used to identify a specific person in the depth image. And then the position of the identified person in robot local coordinates is attained by using the ranging data obtained from the Kinect sensor. A rule-based control law is designed to keep the person...
Piezo was used widely in precise machinery, micro electromechanical system assembly, bio-engineering, optics engineering and so on. Based on the stick-and-slip moving manner, a detailed modeling was studied for a piezo actuators parallel-setup robot, which was able to move on a ferromagnetic working surface. A global vision sensor was used for positioning and locomotive control. A trajectory tracking...
To obtain the pose of a monocular camera installed on the robot relative to the static artificial landmarks in a prepared room is one of many good methods for indoor robot localization. However, the point correspondence problem caused by rotation of cameras and the point detection precision problem are not paid enough attention to. In this paper, we proposed a novel coplanar landmark and a method...
This paper proposes a novel mobile self-reconfigurable robot called Tanbot consisting of several mobile modules. Single module is capable of simple self-reconfiguration by expanding itself. Several modules can dock together one by one to be a whole robot via sensors and cameras. An embedded navigation module is designed to enhance the position accuracy of Tanbot, and to improve the docking efficiency.
A high precise mobile positioning microrobot is designed in this paper. The microrobot has macro and micro driving modes. The macro driving mode uses two smoovy motors to drive the microrobot quickly moving on a desktop in a huge range and accomplishing the first precise positioning in millimeter scale with wheels. The micro driving mode, using PZT stacks as micro driving elements and with the help...
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