Vision-Based Grasp Planning and Experiments of a Mobile Manipulator
- 10.2991/jrnal.2015.1.4.3How to use a DOI?
- Mobile manipulation, visual servoing, visual navigation, robot grasping
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.
- © 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
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 -