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The developed mobile manipulator is primarily composed of a mobile base, a robot manipulator and an eye-in-hand vision system. The material handling of a mobile manipulator has two stages: guiding the mobile base between stations, and picking up a workpiece from a station. Fast landmark recognition and obstacle detection based on color segmentation are proposed for path following, obstacle avoidance...
This article presented a mobile agent-based distributed vision fusion architecture that provides a flexible vision fusion solution to increase power efficiency by reducing excessive communication and enhance sensor fusion capabilities with migratory in situ on demand algorithms for vision data processing and analysis. The IEEE FIPA standard-compliant mobile agent system, Mobile-C, implemented as a...
To date, robots are expected to work in human environment. However, symbiotic robots need advanced abilities. In this research, we pay attention to ??movement ability?? and ??recognition ability??. We chose two-wheeled mobile manipulator with a monocular camera. Therefore, the purpose is to achieve both the target tracking and the attitude stabilization. Firstly, the new visual servoing is proposed...
This research is part of the development of a multi-agent control architecture of mobile manipulators. The control architecture consists of six agents: Supervisory, Local Mobile Robot, Local Manipulator Robot, Vision System, Remote Mobile Robot and Remote Manipulator Robot. The first four agents are installed on an off-board PC while the two others are installed on the on-board PC of the robot. This...
The photometric stereo method (PSM) is a well known technique in the computer vision field that recovers 3D shape from a set of images of a still scene, using a single fixed-pose camera. Every image in the set is taken while a change in the direction of the light source occurs. Commonly, the acquisition of PMS imagery implies using rigid platforms with a static configuration of light sources. In this...
In order to extend the application area of robot, by combining the features of the autonomous mobile platform and the flexible operation of manipulator, an autonomous mobile operation platform is built. The platform is composed of an autonomous mobile platform and a manipulator. The general control model is serialization, and the feedback control based on the vision information is used in some parts...
An algorithm for path planning based on single vision sensor is put forward for problems in path planning of mobile intelligent robots under uncertain environments. Based on inverse perspective mapping theory, pathways are planned for mobile intelligent robots under uncertain environments according to real-time information single visual sensor captured. The results of simulations and experiments indicate...
This paper presents the un-calibrated vision servo control algorithm to track the target with mobile manipulator. Color histogram distance calculation methods and shape matching method are discussed to recognize the target .The on-line estimation algorithm for Image Jacobian matrix model is designed based on the Kalman filter. With this image Jacobian on-line estimator, the visual feedback controller...
This paper presents a novel method of autonomous grasping design for a mobile manipulator, such that the robot can find and grasp a target object in a complex environment. Scale invariant feature transform (SIFT) algorithm is adopted to search and recognize features of the object to be grasped. Histogram-enhanced feature matching (HEFM) is developed to obtain depth estimate and reject unreliable feature...
The importance of the robots for home, public places and many other places are increasing. In order to realize autonomous work in such dynamic and unknown environment, recognizing external world is required. In addition, robots also have to move quickly and work accurately. In this paper, the control system for a two wheels driven redundant mobile manipulator with a monocular camera as a visual sensor...
This paper deals with the design of a robotic platform providing a grasping procedure to assist disabled persons. Like most of the vision-based systems, the camera used to guide the arm toward the object is embedded onto the gripper, which gives a very local view of the environment. We propose to use a catadioptric sensor in order to deal with situations where the object of interest is out of the...
This paper deals with a cooperative object tracking with mobile robotic sensor network. The occlusion problem, which is one of the most important problems of mobile object tracking, will be solve with utilizing the mobile robotic sensor network. Additionally, the high quality information of the object can be observed, since the robotic sensor network can change observation formation their own way...
With the development of robot to intelligent direction, the research of robotic control has become the focus. In this paper, a navigation system of mobile manipulator is designed, fuzzy control theory and artificial neural network are applied. And study basic arithmetic of image processing, use various image pre-treatment and segmentation technology. The main research result of the paper is as follows:...
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