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This paper presents a smooth path planning algorithm for a home service robot in presence of a known map and static obstacles. The algorithm proceeds in two steps. Firstly, the MAKLINK Graph based global path planner generates the shortest linear path which consists of several line segments. By introducing the 2D code landmarks into the global path planner, the path passes the landmarks as many as...
A novel robot arm called deformable arm for the service robot is presented in this paper. A flexible working space and the ability to deal with multiple tasks are obtained with a single arm by changing the arm shape. However more flexible use brings difficulties in actual use, the arm's parameters will be changed with the different arm structure and cannot be calibrated with conventional methods....
Inspired by the calibration of industrial manipulators, we propose an economical and convenient initial location calibration solution for home service robot in this paper. With 2D codes landmarks deployed on the floor, the robot can calculate its location after 2D codes decoding and coordinate transformation. However, how to find a landmark autonomously and efficiently is an issue. Two search strategies...
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