Mobile manipulation and visual servoing design of a configurable mobile manipulator

Kai-Tai Song, Sin Yi Jiang, Ching Jui Wu, Ming Han Lin, Cheng Hei Wu, Yi Fu Chiu, Chia How Lin, Chao Yu Lin, Chien Hung Liu

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations

Abstract

This paper presents a mobile manipulation and visual servoing design for a configurable mobile manipulator by using a Kinect sensor. To achieve this goal, an image-based grasping design is combined with a visual simultaneous localization and mapping (vSLAM). The proposed vSLAM method is based on extended Kalman filter (EKF) and a Kinect RGBD sensor. In the manipulator design, the robot arms are designed to be able to configure as a handrail for user support in execution of walking assistance tasks. The purpose of this design is to perform mobile manipulation and walking assistance tasks on the same robot. Experiments on the prototype dual-arm mobile manipulator validate that the proposed method can find and grasp a target object after navigation a distance to the object position. After the robot delivered the object to the user, it configured to provide walking assist to the user using the suggested compliance controller.

Original languageEnglish
Title of host publication2013 CACS International Automatic Control Conference, CACS 2013 - Conference Digest
Pages239-244
Number of pages6
DOIs
StatePublished - 1 Dec 2013
Event2013 CACS International Automatic Control Conference, CACS 2013 - Nantou, Taiwan
Duration: 2 Dec 20134 Dec 2013

Publication series

Name2013 CACS International Automatic Control Conference, CACS 2013 - Conference Digest

Conference

Conference2013 CACS International Automatic Control Conference, CACS 2013
CountryTaiwan
CityNantou
Period2/12/134/12/13

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