The Mobile Manipulation System of the Household Butler Robot based on Multi-Monocular Cameras
The Household Butler Robot (HBR)project is a long-term group effort aiming to develop a multifunctional and robust household assistant robot.Thus an ef ficient mobile manipulation system is the key component for this robot to be practically useful.In this paper a mobile manipulation system based on multi-view monocular cameras applied in our robot is described in detail.This systems mainly consists of a head camera ,a pair of arm cameras and a pair of bimanual arms. By combining visual information acquired by these cameras, the whole grasping routine is split into four steps in a Look-Move-Look-Move pattern and be solved step by step.Also a series of experiments about grasping known objects within household environments are performed to validate and evaluate this system.These results illustrate that this system successfully and ef ficiently accomplishes grasping tasks.
Long Han Xinyu Wu Chunjie Chen Yongsheng Ou
Shenzhen Institutes of Advanced Technology,Chinese Academy of Sciences Shenzhen Institutes of Advanced Technology,Chinese Academy of Sciences The Chinese University of Hon
国际会议
深圳
英文
726-731
2011-06-06（万方平台首次上网日期，不代表论文的发表时间）