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Additive manufacturing (AM) technologies not only reduce the new product development cycle, but also allow users to design models of their own style. Fused Filament Fabrication is a method that builds a model of rapid prototyping and product in customization fashion. With path generation and planning methods for additive manufacturing, common 3D printers print an object layer by layer. However, when...
This paper presents the algorithm of human pose estimation in 3-D space using adaptive control law with point-cloud-based limb regression approach. The proposed approach is a data-driven method for 3-D pose estimation of human. In addition, we exploit the inverse relationship between the estimated parameter and the pose of limb, proposing a hybrid scheme, the combination of indirect adaptive scheme...
In this paper, we propose a modularized architecture for a robot arm object fetching system integrated with 3D CAD-model based object recognition system that can cope with objects in random types and poses. The interface and the core functionality of each module in the architecture are discussed in detail. Implementation of each module is also conducted. Furthermore, the assumptions and the working...
The objective of this paper is to present the model-based 3D object recognition and fetching by a 7-DoF robot with online obstacle avoidance for factory automation. The robot can fetch the random type of 3D objects with arbitrary pose using a 3D visual camera. Object recognition pipeline based on different descriptors are compared in order to decide the best choice for this scenario. A correct grasp...
In this paper, we develop an online real-time system using Kinect and inertial measurement unit (IMU) to recognize and measure stairs for stair climbing tasks of erect mobile robots. This system combines the ideas of statistical characteristics of 3D point cloud data and adjustable geometric models for stair recognition tasks. Through this system, we not only verify the advantages of statistics methods...
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