Home Service by a Mobile Manipulator System-System Configuration and Basic Experiments-

摘要：

This paper describes a mobile manipulator system as a versatile platform for home service.Two key technologies are addressed in the paper.One is the efficient and easy recognition of environment about geometrical,physical and additional information by a sensor fusion system consisting of RFID,stereo camera and laser range sensor.The other is such geometrical,physical and additional information-based manipulation including mobile manipulation for the heavy objects cannot be handled up by the mobile manipulator.The system configuration is described and basic experiments show its effectiveness.

关键词： mobile manipulator home service sensor fusion RFID mobile manipulation

作者: Aiguo Ming Aiguo Ming Zhaoxian Xie Zhaoxian Xie Takuya Yoshida Manabu Yamashiro Chao Tang Makoto Shimojo

作者单位: Department of Mechanical Engineering and Intelligent Systems The University of Electro-Communications,Tokyo,JAPAN

会议类型: 国际会议

会议名称: 2008 IEEE International Conference on Onformation and Automation(IEEE 信息与自动化国际会议)

会议地点: 张家界

会议语种:英文

页码: 464-469

在线出版日期: 2008-06-20（万方平台首次上网日期，不代表论文的发表时间）