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A shape constraint based visual positioning method for a humanoid robot

Published online by Cambridge University Press:  21 February 2006

De Xu ,
Min Tan ,
Zemin Jiang  and
Huosheng Hu
De Xu
Affiliation:
Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100080 (P.R. of China). E-mail: xude@compsys.ia.ac.cn
Min Tan
Affiliation:
Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100080 (P.R. of China). E-mail: xude@compsys.ia.ac.cn
Zemin Jiang
Affiliation:
Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100080 (P.R. of China). E-mail: xude@compsys.ia.ac.cn
Huosheng Hu
Affiliation:
Department of Computer Science, University of Essex, Colchester CO4 3SQ (UK).
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Abstract

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This paper proposes a new visual positioning method for a humanoid robot to approach and grasp a valve based on colour and shape constraints. The robot has two cameras in its head and uses constraints of colour rectangle marks to determine the valve's position and pose. When the hands are near the valve, an image-based visual servoing method is employed to catch the handle of the valve via cameras in end-effectors. Experimental results are presented to verify the effectiveness of the proposed method.

Keywords

Visual positioningVisual controlHand-eye systemAutonomous manipulationMobile manipulator
Type
Article
Information
Robotica , Volume 24 , Issue 4 , July 2006 , pp. 429 - 431
Copyright
2006 Cambridge University Press