Title :
Home service by a mobile manipulator system -System configuration and basic experiments-
Author :
Ming, Aiguo ; Xie, Zhaoxian ; Yoshida, Takuya ; Yamashiro, Manabu ; Tang, Chao ; Shimojo, Makoto
Author_Institution :
Dept. of Mech. Eng. & Intell. Syst., Univ. of Electro-Commun., Tokyo
Abstract :
This paper describes a mobile manipulator system as a versatile platform for home service. Two key technologies are addressed in the paper. One is the efficient and easy recognition of environment about geometrical, physical and additional information by a sensor fusion system consisting of RFID, stereo camera and laser range sensor. The other is such geometrical, physical and additional information-based manipulation including mobile manipulation for the heavy objects cannot be handled up by the mobile manipulator. The system configuration is described and basic experiments show its effectiveness.
Keywords :
home automation; manipulators; sensor fusion; service robots; RFID; home service; information-based manipulation; laser range sensor; mobile manipulator system; sensor fusion system; stereo camera; versatile platform; Communication system security; Information security; Intelligent robots; Manipulators; Mobile robots; Orbital robotics; Robot sensing systems; Sensor fusion; Service robots; Space technology; RFID; home service; mobile manipulation; mobile manipulator; sensor fusion;
Conference_Titel :
Information and Automation, 2008. ICIA 2008. International Conference on
Conference_Location :
Changsha
Print_ISBN :
978-1-4244-2183-1
Electronic_ISBN :
978-1-4244-2184-8
DOI :
10.1109/ICINFA.2008.4608044
