2013 6th IEEE Conference on Robotics, Automation and Mechatronics (RAM)最新文献_第3页

Position-based visual servoing for pallet picking by an articulated-frame-steering hydraulic mobile machine 铰接框架转向液压移动机托盘拾取的位置视觉伺服

2013 6th IEEE Conference on Robotics, Automation and Mechatronics (RAM) Pub Date : 2013-11-01 DOI: 10.1109/RAM.2013.6758587

M. M. Aref, R. Ghabcheloo, Antti Kolu, Mika Hyvonen, K. Huhtala, J. Mattila

{"title":"Position-based visual servoing for pallet picking by an articulated-frame-steering hydraulic mobile machine","authors":"M. M. Aref, R. Ghabcheloo, Antti Kolu, Mika Hyvonen, K. Huhtala, J. Mattila","doi":"10.1109/RAM.2013.6758587","DOIUrl":"https://doi.org/10.1109/RAM.2013.6758587","url":null,"abstract":"This paper addresses a visual servoing problem for a mobile manipulator. Specifically, it investigates pallet picking by using visual feedback using afork lift truck. A manipulator with limited degrees of freedom and differential constraint mobility together with large dimensions of the machine require reliable visual feedback (pallet pose) from relatively large distances. To address this challenge, we propose a control architecture composed of three main sub-systems: (1) pose estimation: body and fork pose estimation in the pallet frame; (2) path planning: from the current pose to the origin (pallet frame); and (3) feedback motion control. In this architecture, the pallet becomes the local earth fixed frame in which poses are resolved and plans are formulated. Choosing the pallet as the origin provides a natural framework for fusing the wheel odometry/inertial sensor data with vision, and planning is required only once the pallet is detected for the first time (because the target is always the origin). Visual pallet detection is non-real-time and unreliable, especially owing to large distances, unfavorable vibrations, and fast steering. To address these issues, we introduce a simple and efficient method that integrates the vision output with odometry and realizes smooth and non-stop transition from global navigation to visual servoing. Real-world implementation on a small-sized forklift truck demonstrates the efficacy of the proposed visual servoing architecture.","PeriodicalId":287085,"journal":{"name":"2013 6th IEEE Conference on Robotics, Automation and Mechatronics (RAM)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114324833","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 18

Performance evaluation of a network flow based algorithm for multi robots coordinated motion planning 基于网络流的多机器人协调运动规划算法性能评价

2013 6th IEEE Conference on Robotics, Automation and Mechatronics (RAM) Pub Date : 2013-11-01 DOI: 10.1109/RAM.2013.6758571

Nasr Mohamed, Ashraf Elnagar

引用次数: 1

The driving mechanism research of six unit soft robots 六单元软体机器人驱动机构研究

2013 6th IEEE Conference on Robotics, Automation and Mechatronics (RAM) Pub Date : 2013-11-01 DOI: 10.1109/RAM.2013.6758563

Jun He, Linsen Xu, Xiaobo Song, Minzhou Luo, Jianhua Chu

引用次数: 4

Investigation into the force distribution mechanism of a soft robot gripper modeled for picking complex objects using embedded shape memory alloy actuators 基于嵌入式形状记忆合金作动器的复杂物体拾取软机器人夹持器的力分配机制研究

2013 6th IEEE Conference on Robotics, Automation and Mechatronics (RAM) Pub Date : 2013-11-01 DOI: 10.1109/RAM.2013.6758564

Michael O. Obaji, Shiwu Zhang

引用次数: 7

Text plates detection and recognition techniques used for an autonomous robot navigating in indoor environments 用于自主机器人室内导航的文本板检测与识别技术

2013 6th IEEE Conference on Robotics, Automation and Mechatronics (RAM) Pub Date : 2013-11-01 DOI: 10.1109/RAM.2013.6758556

C. Fahn, Po-Hsun Chang

{"title":"Text plates detection and recognition techniques used for an autonomous robot navigating in indoor environments","authors":"C. Fahn, Po-Hsun Chang","doi":"10.1109/RAM.2013.6758556","DOIUrl":"https://doi.org/10.1109/RAM.2013.6758556","url":null,"abstract":"The vision system of our autonomous robot possessing the text plate detection and recognition abilities is the main equipment to capture surrounding information. By virtue of a PTZ camera, we can obtain the sequential images of indoor environments. As the autonomous robot moving forward, the obtained sequential images are fed to execute text plate detection. We analyze the color information in these images to determine candidate regions, and observe the edge points in each candidate region after edge detection. Some regions will be filtered out if they have too few edge points. We will recognize the text plate by means of the linear discriminant analysis method. When the recognition result matches with the predefined target, the autonomous robot will carry out the corresponding actions. In the experiments, for uniform contrast text plates, the average text plate detection rate is more than 90%, and the average text plate recognition rate is more than 91% in two different office environments. The robot vision system works by 2 frames per second on an average, and there contains 640×480 pixels per frame captured by our camera.","PeriodicalId":287085,"journal":{"name":"2013 6th IEEE Conference on Robotics, Automation and Mechatronics (RAM)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122405847","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3

On the robustness of tiny decoding graphs for voice-based robotic interaction 基于语音的机器人交互中微小解码图的鲁棒性研究

2013 6th IEEE Conference on Robotics, Automation and Mechatronics (RAM) Pub Date : 2013-11-01 DOI: 10.1109/RAM.2013.6758581

A. Abdelhamid, W. Abdulla, B. MacDonald

引用次数: 1

New scheme for image space path planning incorporating CAD-based recognition methods for visual servoing 结合cad视觉伺服识别方法的图像空间路径规划新方案

2013 6th IEEE Conference on Robotics, Automation and Mechatronics (RAM) Pub Date : 2013-11-01 DOI: 10.1109/RAM.2013.6758586

Z. Ziaei, R. Oftadeh, J. Mattila

{"title":"New scheme for image space path planning incorporating CAD-based recognition methods for visual servoing","authors":"Z. Ziaei, R. Oftadeh, J. Mattila","doi":"10.1109/RAM.2013.6758586","DOIUrl":"https://doi.org/10.1109/RAM.2013.6758586","url":null,"abstract":"Visual servoing techniques are widely used in the design of autonomous controllers for various robotic arms performing object manipulation in 3D space. Path planning in image space has been studied widely in order to generate the feasible trajectories for the visual servoing controllers. The main idea of image space path planning is to derive a practical paths for image features while taking into account variety of constraints imposed by the image and the physical environment. However, in many practical cases especially in complex and clutter scene spaces extracting the image features is not robust enough and it demands that the target features not to be occluded by the obstacles, robot's body or the target object itself. In this paper, we present a new image space path planning scheme for markerless 3D target that bypasses the feature extraction requirement. Utilizing artificial potential field method the planner generates the desired end-effector path such that a given target remains inside the image boundaries during the robot manipulation task. Experimental results are presented to determine the 2D and 3D generated path with reasonable accuracy for robotic manipulation scenarios.","PeriodicalId":287085,"journal":{"name":"2013 6th IEEE Conference on Robotics, Automation and Mechatronics (RAM)","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131690453","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3

Gray-dynamic EKF for mobile robot SLAM in indoor environment 室内环境下移动机器人SLAM的灰色动态EKF

2013 6th IEEE Conference on Robotics, Automation and Mechatronics (RAM) Pub Date : 2013-11-01 DOI: 10.1109/RAM.2013.6758557

Peng-Cheng Wang, Qibin Zhang, Zonghai Chen

引用次数: 1

Motion planning using cooperative perception on urban road 基于协同感知的城市道路运动规划

2013 6th IEEE Conference on Robotics, Automation and Mechatronics (RAM) Pub Date : 2013-11-01 DOI: 10.1109/RAM.2013.6758572

Wei Liu, Seong-Woo Kim, Z. J. Chong, Xiaotong Shen, M. Ang

引用次数: 21

A PSO-based approach to cooperative foraging multi-robots in unknown environments 基于pso的未知环境下多机器人协同觅食方法

2013 6th IEEE Conference on Robotics, Automation and Mechatronics (RAM) Pub Date : 2013-11-01 DOI: 10.1109/RAM.2013.6758561

Yifan Cai, Simon X. Yang, G. Mittal

引用次数: 6