Target recognition of indoor trolley for humanoid robot based on piecewise fitting method

doi:10.1002/acs.2994

	Target recognition of indoor trolley for humanoid robot based on piecewise fitting method
	Zhang, Lei 1; Liu, Huiling 1; Luo, Chengfang 1; Bian, Gui-Bin2 ; Wu, Wanqing 3
刊名	INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING
	2019-08-01
卷号	33 期号:8 页码:1319-1327
关键词	cart pushing heavy load posture control target location target recognition
ISSN号	0890-6327
DOI	10.1002/acs.2994
通讯作者	Bian, Gui-Bin(guibin.bian@ia.ac.cn)
英文摘要	Although several studies have considered the problem of humanoid robots pushing carts, only a few have focused on the problem of robots moving heavy objects under monocular vision. This study proposes a target recognition and positioning method and a control method for a robot pushing a loaded trolley. A control system based on the humanoid robot NAO is developed and a monocular visual ranging method with segmented fitting is proposed to realize hardware control and target search and positioning for NAO. The ability of NAO to push a small cart with various weights using visual positioning is tested. The experimental results show that the average error of the monocular distance measurement method is 1.7 mm and that the target search and positioning is accurate. NAO can push a loaded cart that is 6.5 times its own weight.
资助项目	National Natural Science Foundation of China[61473027] ; Beijing Key Laboratory of Robot Bionics and Function Research[BZ0337] ; Youth Innovation Promotion Association of the Chinese Academy of Sciences[2018165]
WOS关键词	SEARCH ; POINT
WOS研究方向	Automation & Control Systems ; Engineering
语种	英语
出版者	WILEY
WOS记录号	WOS:000479315600008
资助机构	National Natural Science Foundation of China ; Beijing Key Laboratory of Robot Bionics and Function Research ; Youth Innovation Promotion Association of the Chinese Academy of Sciences
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/27529]
专题	中国科学院自动化研究所
通讯作者	Bian, Gui-Bin
作者单位	1.Beijing Univ Civil Engn & Architecture, Sch Elect & Informat Engn, Beijing, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 3.SIAT, CAS Key Lab Human Machine Intelligence Synergy Sy, Shenzhen, Peoples R China
推荐引用方式 GB/T 7714	Zhang, Lei,Liu, Huiling,Luo, Chengfang,et al. Target recognition of indoor trolley for humanoid robot based on piecewise fitting method[J]. INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING,2019,33(8):1319-1327.
APA	Zhang, Lei,Liu, Huiling,Luo, Chengfang,Bian, Gui-Bin,&Wu, Wanqing.(2019).Target recognition of indoor trolley for humanoid robot based on piecewise fitting method.INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING,33(8),1319-1327.
MLA	Zhang, Lei,et al."Target recognition of indoor trolley for humanoid robot based on piecewise fitting method".INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING 33.8(2019):1319-1327.