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- Title
Embedded Vision-Based Autonomous Move-to-Grasp Approach for a Mobile Manipulator.
- Authors
Jile Jiao; Shuguang Ye; Zhiqiang Cao; Nong Gu; Xilong Liu; Min Tan
- Abstract
This paper proposes a vision-based autonomous move-to-grasp approach for a compact mobile manipulator under some low and small environments. The visual information of specified object with a radial symbol and an overhead colour block is extracted from two CMOS cameras in an embedded way. Furthermore, the mobile platform and the postures of the manipulator are adjusted continuously by vision-based control, which drives the mobile manipulator approaching the object. When the mobile manipulator is sufficiently close to the object, only the manipulator moves to grasp the object based on the incremental movement with its head end centre of the end-effector conforming to a Bezier curve. The effectiveness of the proposed approach is verified by experiments.
- Subjects
COMPUTER vision; MANIPULATORS (Machinery); MOBILE robots; AUTONOMOUS robots; DIGITAL cameras; EMBEDDED computer systems
- Publication
International Journal of Advanced Robotic Systems, 2012, Vol 9, Issue 12, p1
- ISSN
1729-8806
- Publication type
Article
- DOI
10.5772/53276