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

Department of System Design Engineering

Research output: Contribution to conference › Paper › peer-review

Abstract

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.

Original language	English
Pages	2157-2162
Number of pages	6
DOIs	https://doi.org/10.1109/IECON.2009.5415363
Publication status	Published - 2009 Dec 1
Event	35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009 - Porto, Portugal Duration: 2009 Nov 3 → 2009 Nov 5

Other

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

Keywords

Compliance control
Redundancy
Subsystem
Two-wheeled mobile manipulator
Visual servoing

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/IECON.2009.5415363

Cite this

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abstract = "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.",

keywords = "Compliance control, Redundancy, Subsystem, Two-wheeled mobile manipulator, Visual servoing",

author = "Tetsuro Ikeda and Toshiyuki Murakami",

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doi = "10.1109/IECON.2009.5415363",

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AU - Ikeda, Tetsuro

AU - Murakami, Toshiyuki

PY - 2009/12/1

Y1 - 2009/12/1

N2 - 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.

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.

KW - Compliance control

KW - Redundancy

KW - Subsystem

KW - Two-wheeled mobile manipulator

KW - Visual servoing

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

Y2 - 3 November 2009 through 5 November 2009

ER -

Subsystem control based target tracking for two-wheeled mobile manipulator

Abstract

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Keywords

ASJC Scopus subject areas

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