Subsystem control based target tracking for two-wheeled mobile manipulator

Tetsuro Ikeda; Toshiyuki Murakami

doi:10.1109/IECON.2009.5415363

Subsystem control based target tracking for two-wheeled mobile manipulator

Tetsuro Ikeda, Toshiyuki Murakami

システムデザイン工学科

研究成果: Paper › 査読

抄録

To date, robots are expected to work in human environment. However, symbiotic robots need advanced abilities. In this research, we pay attention to "movement ability" and "recognition ability". We chose two-wheeled mobile manipulator with a monocular camera. Therefore, the purpose is to achieve both the target tracking and the attitude stabilization. Firstly, the new visual servoing is proposed in the work space. In addition, some controls are designed in the null space. Experiment was carried out to show the validity of the proposed method.

本文言語	English
ページ	2157-2162
ページ数	6
DOI	https://doi.org/10.1109/IECON.2009.5415363
出版ステータス	Published - 2009 12月 1
イベント	35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009 - Porto, Portugal 継続期間: 2009 11月 3 → 2009 11月 5

Other

Other	35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009
国/地域	Portugal
City	Porto
Period	09/11/3 → 09/11/5

ASJC Scopus subject areas

制御およびシステム工学
電子工学および電気工学

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10.1109/IECON.2009.5415363

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doi = "10.1109/IECON.2009.5415363",

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AU - Murakami, Toshiyuki

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AB - To date, robots are expected to work in human environment. However, symbiotic robots need advanced abilities. In this research, we pay attention to "movement ability" and "recognition ability". We chose two-wheeled mobile manipulator with a monocular camera. Therefore, the purpose is to achieve both the target tracking and the attitude stabilization. Firstly, the new visual servoing is proposed in the work space. In addition, some controls are designed in the null space. Experiment was carried out to show the validity of the proposed method.

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KW - Visual servoing

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T2 - 35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009

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Subsystem control based target tracking for two-wheeled mobile manipulator

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