Target recognition of indoor trolley for humanoid robot based on piecewise fitting method
Lei Zhang
School of Electrical and Information Engineering, Beijing University of Civil Engineering and Architecture, Beijing, China
Search for more papers by this authorHuiling Liu
School of Electrical and Information Engineering, Beijing University of Civil Engineering and Architecture, Beijing, China
Search for more papers by this authorChengfang Luo
School of Electrical and Information Engineering, Beijing University of Civil Engineering and Architecture, Beijing, China
Search for more papers by this authorCorresponding Author
Gui-Bin Bian
State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China
Gui-Bin Bian, State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China.
Email: [email protected]
Search for more papers by this authorWanqing Wu
CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institutes of Advanced Technology (SIAT), Shenzhen, China
Search for more papers by this authorLei Zhang
School of Electrical and Information Engineering, Beijing University of Civil Engineering and Architecture, Beijing, China
Search for more papers by this authorHuiling Liu
School of Electrical and Information Engineering, Beijing University of Civil Engineering and Architecture, Beijing, China
Search for more papers by this authorChengfang Luo
School of Electrical and Information Engineering, Beijing University of Civil Engineering and Architecture, Beijing, China
Search for more papers by this authorCorresponding Author
Gui-Bin Bian
State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China
Gui-Bin Bian, State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China.
Email: [email protected]
Search for more papers by this authorWanqing Wu
CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institutes of Advanced Technology (SIAT), Shenzhen, China
Search for more papers by this authorSummary
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.
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