Vision-Based Grasp Planning and Experiments of a Mobile Manipulator

Vision-Based Grasp Planning and Experiments of a Mobile Manipulator

In this paper, a motion planner is designed and implemented for of a mobile manipulator to travel to a spot for grasping of an object. In this work, the probability of successful grasping inside the workspace of the robot arm is used for grasping planning. A vision SLAM system is combined with reach...

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Bibliographic Details
Main Authors: Yi-Fu Chiu, Kai-Tai Song
Format: Article
Language:English
Published: Atlantis Press 2015-02-01
Series:Journal of Robotics, Networking and Artificial Life (JRNAL)
Subjects:
Mobile manipulation
visual servoing
visual navigation
robot grasping
Online Access:https://www.atlantis-press.com/article/16827.pdf
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spelling doaj-ac6eb60a66e748aeb3e6457e1475b23e2020-11-24T21:34:40ZengAtlantis PressJournal of Robotics, Networking and Artificial Life (JRNAL)2352-63862015-02-011410.2991/jrnal.2015.1.4.3Vision-Based Grasp Planning and Experiments of a Mobile ManipulatorYi-Fu ChiuKai-Tai SongIn this paper, a motion planner is designed and implemented for of a mobile manipulator to travel to a spot for grasping of an object. In this work, the probability of successful grasping inside the workspace of the robot arm is used for grasping planning. A vision SLAM system is combined with reachability calculation to figure out the grasping position. Using a laboratory dual-arm robot, we conducted experiments in different conditions to verify the effectiveness of the developed system.https://www.atlantis-press.com/article/16827.pdfMobile manipulationvisual servoingvisual navigationrobot grasping
collection DOAJ
language English
format Article
sources DOAJ
author Yi-Fu Chiu
Kai-Tai Song
spellingShingle Yi-Fu Chiu
Kai-Tai Song
Vision-Based Grasp Planning and Experiments of a Mobile Manipulator
Journal of Robotics, Networking and Artificial Life (JRNAL)
Mobile manipulation
visual servoing
visual navigation
robot grasping
author_facet Yi-Fu Chiu
Kai-Tai Song
author_sort Yi-Fu Chiu
title Vision-Based Grasp Planning and Experiments of a Mobile Manipulator
title_short Vision-Based Grasp Planning and Experiments of a Mobile Manipulator
title_full Vision-Based Grasp Planning and Experiments of a Mobile Manipulator
title_fullStr Vision-Based Grasp Planning and Experiments of a Mobile Manipulator
title_full_unstemmed Vision-Based Grasp Planning and Experiments of a Mobile Manipulator
title_sort vision-based grasp planning and experiments of a mobile manipulator
publisher Atlantis Press
series Journal of Robotics, Networking and Artificial Life (JRNAL)
issn 2352-6386
publishDate 2015-02-01
description In this paper, a motion planner is designed and implemented for of a mobile manipulator to travel to a spot for grasping of an object. In this work, the probability of successful grasping inside the workspace of the robot arm is used for grasping planning. A vision SLAM system is combined with reachability calculation to figure out the grasping position. Using a laboratory dual-arm robot, we conducted experiments in different conditions to verify the effectiveness of the developed system.
topic Mobile manipulation
visual servoing
visual navigation
robot grasping
url https://www.atlantis-press.com/article/16827.pdf
work_keys_str_mv AT yifuchiu visionbasedgraspplanningandexperimentsofamobilemanipulator
AT kaitaisong visionbasedgraspplanningandexperimentsofamobilemanipulator
_version_ 1725948208601890816

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