Journal of Robotics, Networking and Artificial Life

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Volume 1, Issue 4, March 2015, Pages 257 - 260

Vision-Based Grasp Planning and Experiments of a Mobile Manipulator

Authors
Yi-Fu Chiu, Kai-Tai Song
Corresponding Author
Yi-Fu Chiu
Available Online 2 March 2015.
DOI
10.2991/jrnal.2015.1.4.3How to use a DOI?
Keywords
Mobile manipulation, visual servoing, visual navigation, robot grasping
Abstract

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.

Copyright
© 2013, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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<Previous Article In Issue
Next Article In Issue>
Journal
Journal of Robotics, Networking and Artificial Life
Volume-Issue
1 - 4
Pages
257 - 260
Publication Date
2015/03/02
ISSN (Online)
2352-6386
ISSN (Print)
2405-9021
DOI
10.2991/jrnal.2015.1.4.3How to use a DOI?
Copyright
© 2013, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Cite this article

risenwbib
TY  - JOUR
AU  - Yi-Fu Chiu
AU  - Kai-Tai Song
PY  - 2015
DA  - 2015/03/02
TI  - Vision-Based Grasp Planning and Experiments of a Mobile Manipulator
JO  - Journal of Robotics, Networking and Artificial Life
SP  - 257
EP  - 260
VL  - 1
IS  - 4
SN  - 2352-6386
UR  - https://doi.org/10.2991/jrnal.2015.1.4.3
DO  - 10.2991/jrnal.2015.1.4.3
ID  - Chiu2015
ER  -