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Development of a Visual Servo System in a Mobile Manipulator for Operating Numeral Buttons  

박민규 (부산대학교 지능기계공학과 대학원)
이민철 (부산대학교 기계공학)
주원동 (부산대학교 지능기계공학과 대학원)
Publication Information
Journal of the Korean Society for Precision Engineering / v.21, no.7, 2004 , pp. 92-100 More about this Journal
Abstract
A service robot is expected to be useful in indoor environment such as a hotel, a hospital and so on. However, many service robots are driven by wheels so that they cannot climb stairs to move to other floors. If the robot cannot use elevators. In this paper, the mobile manipulator system was developed, which can operate numeral buttons on the operating panel in the elevator. To perform this task, the robot is composed of an image recognition module, an ultrasonic sensor module and a manipulator. The robot can recognize numeral buttons and an end-effector in manipulator by the vision system. The Learning vector quantization (LVQ) algorithm is used to recognize the number on the button. The barcode mark on the end-effector is used to recognize the end-effector. The manipulator can push numeral buttons using informations captured by the vision system. The proposed method is evaluated by experiments.
Keywords
mobile manipulator; visual seivo system; operating numeral button; learning vector quantization;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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