Construction of an anthropomorphic robot and its intelligent control for vision-guided feeding tasks
| Autor: | T. I. James Tsay, Yung-Sheng Liu |
|---|---|
| Rok vydání: | 2011 |
| Předmět: |
Robot kinematics
Engineering InformationSystems_INFORMATIONINTERFACESANDPRESENTATION(e.g. HCI) business.industry ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION Mobile robot Torso GeneralLiterature_MISCELLANEOUS Robot control medicine.anatomical_structure medicine Robot Computer vision Artificial intelligence Zoom business Intelligent control Tilt (camera) Simulation |
| Zdroj: | 2011 IEEE/SICE International Symposium on System Integration (SII). |
| DOI: | 10.1109/sii.2011.6147548 |
| Popis: | The objective of this study is to create a wheel-type anthropomorphic robot to support those who are unable to eat independently. The constructed robot comprises mainly an omni-directional base, a fixed torso mounted on the base, two seven-degrees-of-freedom arms, two robot hands and a head equipped with a panoramic camera and a pan/tilt/zoom (PTZ) camera. For feeding tasks, a vision-guided control strategy is proposed to determine the poses of the meal tray and the human mouth by using the uncalibrated PTZ camera. Additionally, an intelligent coordination control scheme is proposed to drive two robot arms to carry the meal tray. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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