Title :
Balloon burster: A CORBA-based visual servoing for humanoid robot in a distributed environment
Author :
Lee, Joongjae ; Jie, Minseok ; Kim, Seungsu ; Jung, Munho ; Kim, ChangHwan ; You, Bumjae
Author_Institution :
Korea Inst. of Sci. & Technol., Seoul
Abstract :
This paper proposes CORBA-based visual servoing system of humanoid robot. To effectively control the humanoid robot which is connected to network, it needs to define necessary services for visual servoing as distribution object, and realize them in the middleware. For realizing it following services should be addressed. Naming service for searching a necessary service with unique name assigned to each object, image service for supplying image obtained from stereo camera. In the experiment, we show the result of balloon tracking and bursting that the robot tracks balloons as target objects in the real time, and if a balloon stop for a certain time, then the robot bursts the balloon.
Keywords :
control engineering computing; distributed object management; humanoid robots; middleware; robot vision; target tracking; visual servoing; CORBA-based visual servoing; balloon burster; balloon tracking; distributed environment; humanoid robot; middleware; target object tracking; Computational intelligence; Computer architecture; Humanoid robots; Humans; Intelligent robots; Mobile robots; Network servers; Service robots; Target tracking; Visual servoing; CORBA; Humanoid robot; Middle ware; Visual servoing;
Conference_Titel :
SICE, 2007 Annual Conference
Conference_Location :
Takamatsu
Print_ISBN :
978-4-907764-27-2
Electronic_ISBN :
978-4-907764-27-2
DOI :
10.1109/SICE.2007.4421380