Obstacle Avoidance with Visual Control of Adjustable Zoom-Cameras

• 영문명: Obstacle Avoidance with Visual Control of Adjustable Zoom-Cameras
• 발행기관: 한국과학기술원 인간친화 복지 로봇 시스템 연구센터
• 저자명: Andreas Pape Olena Radchenko Axel Graser Hyoyoung Jang Zeungnam Bien
• 간행물 정보: 『International Journal of Assistive Robotics and Mechatronics』International Journal of Human-friendly Welfare Robotic Systems Vol.4 No.1, 37~41쪽, 전체 5쪽
• 주제분류: 공학 > 제어계측공학
• 파일형태: PDF
• 발행일자: 2003.04.01

영문 초록

  The new features of the rehabilitation robot FRIEND that consists of a wheelchair and a robot arm to support tetraplegics are presented in this paper. We especially consider obstacle avoidance during grasping and handling of objects. Visual servoing with a stereo-system is used to control the robot. For obstacle avoidance the method of virtual points is used. In this paper, we extend the method to adjustable cameras that are mounted on pan-tilt heads. Together with the stereo-system it guarantees that the gripper and the object are always in the common field of view of both cameras, thereby enhances the robustness of the control system.

목차

Abstract
Ⅰ. INTRODUCTION
Ⅱ. DETECTION OF GRIPPER, OBJECT AND OBSTACLE
Ⅲ. VISUAL SERVOING CONTROLLER
Ⅳ. TRAJECTORY GENERATION
Ⅴ. EXPERIMENT
Ⅵ. CONCLUSION
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