Household Service Robot with Cellphone Interface

	Household Service Robot with Cellphone Interface
	LONG HAN; XINYU WU; YONGSHENG OU; YEN-LUN CHEN; CHUNJIE CHEN; YANGSHENG XU
刊名	International Journal of Information Acquisition
	2013
英文摘要	In this paper, an efficient and low-cost cellphone-commandable mobile manipulation system is described. Aiming at house and elderly caring, this system can be easily commanded through common cellphone network to efficiently grasp objects in household environment, utilizing several low-cost off-the-shelf devices. Unlike the visual servo technology using high quality vision system with high cost, the household-service robot may not afford to such high quality vision servo system, and thus it is essential to use some of low-cost device. However, it is extremely challenging to have the said vision for precise localization, as well as motion control. To tackle this challenge, we developed a realtime vision system with which a reliable grasping algorithm combining machine vision, robotic kinematics and motor control technology is presented. After the target is captured by the arm camera, the arm camera keeps tracking the target while the arm keeps stretching until the end effector reaches the target. However, if the target is not captured by the arm camera, the arm will take a move to help the arm camera capture the target under the guidance of the head camera. This algorithm is implemented on two robot systems: the one with a fixed base and another with a mobile base. The results demonstrated the feasibility and efficiency of the algorithm and system we developed, and the study shown in this paper is of significance in developing a service robot in modern household environment.
收录类别	其他
原文出处	http://www.worldscientific.com/doi/abs/10.1142/S0219878913500095?journalCode=ijia
语种	英语
内容类型	期刊论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/4466]
专题	深圳先进技术研究院_集成所
作者单位	International Journal of Information Acquisition
推荐引用方式 GB/T 7714	LONG HAN,XINYU WU,YONGSHENG OU,et al. Household Service Robot with Cellphone Interface[J]. International Journal of Information Acquisition,2013.
APA	LONG HAN,XINYU WU,YONGSHENG OU,YEN-LUN CHEN,CHUNJIE CHEN,&YANGSHENG XU.(2013).Household Service Robot with Cellphone Interface.International Journal of Information Acquisition.
MLA	LONG HAN,et al."Household Service Robot with Cellphone Interface".International Journal of Information Acquisition (2013).