Title :
Home service by a mobile manipulator system
Author :
Yamashiro, Manabu ; Xie, Zhaoxian ; Yamaguchi, Hisashi ; Ming, Aiguo ; Shimojo, Makoto
Author_Institution :
Dept. of Mech. Eng. & Intell. Syst., Univ. of Electro-Commun., Chofu, Japan
Abstract :
A mobile manipulator system as a versatile platform for home service has been developed by authors. The mobile system has two features. One is the efficient and easy recognition of environment and objects about geometrical, physical and additional information by a sensor fusion system consisting of RFID, camera and laser range sensor. The other is such geometrical, physical and additional information-based mobile manipulation for various objects. In this paper, mobile manipulation of various chairs for home service is described. The methods for recognition and mobile manipulation are proposed and experimental results are given to show the feasibility of the proposed methods.
Keywords :
manipulators; mobile robots; object recognition; radiofrequency identification; robot vision; sensor fusion; service robots; RFID; chair manipulation; environment recognition; home service; laser range sensor; mobile manipulator system; object recognition; robot vision; sensor fusion system; Communication system security; Information security; Intelligent robots; Manipulators; Mobile robots; Orbital robotics; Radiofrequency identification; Robot sensing systems; Sensor fusion; Service robots; Home service; RFID; chairs; mobile manipulation; sensor fusion;
Conference_Titel :
Automation and Logistics, 2009. ICAL '09. IEEE International Conference on
Conference_Location :
Shenyang
Print_ISBN :
978-1-4244-4794-7
Electronic_ISBN :
978-1-4244-4795-4
DOI :
10.1109/ICAL.2009.5262909
