Embedded vision-based autonomous move-to-grasp approach for a mobile manipulator

Jiao, Jile, Ye, Shuguang, Cao, Zhiqiang, Gu, Nong, Liu, Xilong and Tan, Min 2012, Embedded vision-based autonomous move-to-grasp approach for a mobile manipulator, International journal of advanced robotic systems, vol. 9, pp. 1-8.

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Title Embedded vision-based autonomous move-to-grasp approach for a mobile manipulator
Author(s) Jiao, Jile
Ye, Shuguang
Cao, Zhiqiang
Gu, Nong
Liu, Xilong
Tan, Min
Journal name International journal of advanced robotic systems
Volume number 9
Start page 1
End page 8
Total pages 8
Publisher InTech
Place of publication Rijeka, Croatia
Publication date 2012
ISSN 1729-8806
1729-8814
Keyword(s) Bezier curve
embedded vision
mobile manipulator
move-to-grasp
Summary 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.
Language eng
Field of Research 090602 Control Systems, Robotics and Automation
Socio Economic Objective 970109 Expanding Knowledge in Engineering
HERDC Research category C1 Refereed article in a scholarly journal
Persistent URL http://hdl.handle.net/10536/DRO/DU:30051770

Document type: Journal Article
Collection: Centre for Intelligent Systems Research
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