TY - GEN
T1 - Mobile robot manipulation system design in given environments
AU - Gong, Weimeng
AU - Xu, Hao
AU - Li, Qingfeng
AU - Gu, Hao
AU - Han, Cuihong
AU - Song, Shuang
AU - Meng, Max Q.H.
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/10/20
Y1 - 2017/10/20
N2 - Mobile manipulation tasks in warehouses require robots to grasp and transport objects autonomously. To carry out mobile manipulation tasks autonomously, robot needs integrate several components for perception, planning, grasping, and manipulation. In this paper, we consider the systematic implementation of grasping, transportation and placing by using a mobile robot. We design a mechanical gripper and transform the mobile platform for the purpose of sensor mounting and platform stability. Then we present the algorithm of object recognition, pose estimation and placement strategy. After that, we perform the manipulator motion planning that includes collision free trajectory planning. And we propose the localization and path planning algorithm for the mobile platform. Our method that integrates perception, decision making and manipulation algorithm shows robustness and low implementation complexity. Experiments based on ICRA 2017 Mobile Manipulation Challenge show that the proposed method achieve good results in real environment.
AB - Mobile manipulation tasks in warehouses require robots to grasp and transport objects autonomously. To carry out mobile manipulation tasks autonomously, robot needs integrate several components for perception, planning, grasping, and manipulation. In this paper, we consider the systematic implementation of grasping, transportation and placing by using a mobile robot. We design a mechanical gripper and transform the mobile platform for the purpose of sensor mounting and platform stability. Then we present the algorithm of object recognition, pose estimation and placement strategy. After that, we perform the manipulator motion planning that includes collision free trajectory planning. And we propose the localization and path planning algorithm for the mobile platform. Our method that integrates perception, decision making and manipulation algorithm shows robustness and low implementation complexity. Experiments based on ICRA 2017 Mobile Manipulation Challenge show that the proposed method achieve good results in real environment.
KW - localization and path planning
KW - mobile manipulation
KW - motion planning
KW - object recognition and pose estimation
UR - https://www.scopus.com/pages/publications/85039967649
U2 - 10.1109/ICInfA.2017.8078980
DO - 10.1109/ICInfA.2017.8078980
M3 - 会议稿件
AN - SCOPUS:85039967649
T3 - 2017 IEEE International Conference on Information and Automation, ICIA 2017
SP - 609
EP - 613
BT - 2017 IEEE International Conference on Information and Automation, ICIA 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Information and Automation, ICIA 2017
Y2 - 18 July 2017 through 20 July 2017
ER -