Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/9460
標題: 雙手臂機器人之視覺導引抓取與操作
Vision-Guided Grasping and Manipulations of a Two-Armed Robot Using Kinect
作者: 紀志蒼
Chi, Chih-Tsang
關鍵字: 雙手臂
dual arm
視覺伺服
visual servoing
出版社: 電機工程學系所
引用: [1] C. Borst, C. Ott, T Wimbock, B.Brunner, F. Zacharias, B.Bauml, U.Hillenbrand, S.Haddadin, A. Albu-Schaffer, G. Hirzinger, “A humanoid upper body system for two-handed manipulation,” in Proc. of IEEE Int. Conference on Robotics and Automation, pp. 2766-2767, April 2007. [2] K. Hirai, M. Hirose, Y. Haikawa, and T. Takenaka,“The development of Honda humanoid robot,” in Proc. of IEEE International Conference on Robotics and Automation, pp. 1321-1326, 1998. [3] Y. Sakagami, R. Watanabe, C. Aoyama, S. Matsunaga, N. Higaki, and K. Fujimura, “The intelligent ASIMO: System overview and integration,” in Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2478–2483, 2002. [4] Ogura Yu, H. Aikawa, K. Shimomura, H. Kondo, A. Morishima, Lim Hun-ok and A. Takanishi,“Development of a New Humanoid Robot WABIAN-2,” Proceedings of the ICRA Conference, pp.76-81, 2006. [5] Y. Hosoda, S. Egawa, J. Tamamoto, K. Yamamoto, R. Nakamura, and M. Togami, “Basic design of human-symbiotic robot EMIEW,” Proc. of the 2006 IEEE/RSJ International Conference on intelligent robots and systems, Beijing, China, pp. 5079-5084, October 9-15, 2006. [6] G. A. Bekey, Autonomous robots, MIT Press,Cambridge, Massachusstts, 2005. [7] T. Morita, H. Iwata, and S. Sugano, “Development of human symbiotic robot: WENDY,” in Proc. of IEEE International Conference on Robotics and Automation, pp. 3183–3188, 1999. [8] K. Kaneko, K. Harada, F. Kanehiro, “Humanoid Robot HRP-3,” in Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2471 – 2478, 2008. [9] K. W. Chin, Closed-form and generalized inverse kinematic solutions for animating the human articulated structure, Bachelor''s Thesis in Computer Science, Curtin University of Technology, 1996. [10] J. Korein, Geometric investigation of reach, Ph.D. dissertation, University of Pennsylvania, 1985. [11] J.Zhao and N. I. Badler, “Inverse kinematics positioning using nonlinear programming for highly articulated figures,” ACM Transactions on Graphics, vol. 13, no.4, pp. 313-336, 1994. [12] X. Zhao, Kinematic control of human postures for task simulation, Ph.D thesis, CIS, University of Pennsylvania, 1996. [13] D. Tolani, A. Goswami and N. I. Badler, “Real-time inverse kinematics techniques for anthropomorphic limbs,” Graphical Models, vol.62, pp. 353-388, 2000. [14] J. Lee and S. Y. Shin, “A hierarchical approach to interactive motion editing for human-like figures,” Proc. of SIGGRAPH 99, pp. 39-48, 1999. [15] Morasso, “Spatial control of arm movement,” Experimental Brain Research, vol. 42, pp.233-227, 1981. [16] T. Flash and N. Hogan, “The coordination of arm movements; An experimentally confirmed mathematical model,” Journal of Neuroscience, vol.5, pp.1688-1703, 1985. [17] Y. Uno, M. Kawato and R. Suzuki, “Formation and control of optimal trajectory in human multi-joint arm movement,” Biological Cybernetics, vol.61, pp.89-101, 1989. [18] Y. Wada, M. Kawato and R. Suzuki, “Formation and control of optimal trajectory in human arm movement-minimum torque-change model,” Biological Cybernetics, Vol.61, pp.89-101, 1989. [19] H. Kim, G. York, G. Burton, E. Murphy-Chutorian, J. Triesch, “Design of an Anthropomorphic Robot Head for Studying Autonomous Development and Learning,” in Proc. of IEEE international conference on Robotics and Automation, vol.4, pp. 3506-3511, 2004. [20] Y. S. Wang, Mechatronic Design, Motion Planning and Cooperation of an Anthropomorphous Two-Armed Robot, M.S. Thesis, Department of Electrical Engineering, National Chung-Hsing University, Taichung, Taiwan, July 2009. [21] C. C. Tsai, Y. S. Wang, Y. Y. Li, F. C. Tai, “Motion Planning and Cooperation of an Anthropomorphous Two-Armed Robot,” Proceedings of 2009 CACS International Automatic Control Conference, Taipei, Taiwan, Nov. 27-29, 2009. [22] C. C. Tsai, Y. S. Wang, Y. Y. Li, “Design and Implementation of an Anthropomorphous Two-Armed Robot with Multiple Task Applications,” Proc. of 2009 International Conference on Service and Interactive Robots, Taipei, Taiwan, August 6-7, 2009. [23] C. C. Tsai, T. T. Liang, Y. Y. Li, “Trajectory Planning and Motion Control of a Two-Armed Robot,” Proc. of the SICE Annual Conference 2010, Taipei, Taiwan, August 2010. [24] C. C. Tsai, Y. S. Wang, Y. Y. Li, F. C. Tai, “Cooperation and Task Execution of an Anthropomorphous Two-Armed Robot: an Application to Coffee Making,” Proc. of the 2010 International Conference on System Science and Engineering, Taipei, Taiwan, July 2010. [25] H.bay, T. tuytelaars and L. V. Gool,“SURF:Speeded Up Robust Features,” Proc. of the 9th European conf. on Computer Vision, Graz Austria,2006,pp. [26] T. T. Liang, Autonomous Task Execution of a Two-Armed Robot with Stereo Vision Camera, M.S. Thesis, Department of Electrical Engineering, National Chung-Hsing University, Taichung, Taiwan, July 2010. [27] R. M. , R. M. Kossey, “Closed-Loop Control of a Manipulator Arm Using a Wrist Force Sensor,” IEEE Transactions on Industrial Electronics, vol. IE-34, pp. 371 - 378, 1987. [28] H. Kawasaki, T. Mouri, “Design and Control of Five-Fingered Haptic Interface Opposite to Human Hand,” IEEE Transactions on Robotics, vol. 23, no.5, pp. 909 - 918, October 2007. [29] S. Benhimane and E. Malis, “Homography-based 2D Visual Tracking and Servoing,” International Journal of Robotics Research, 2007, pp.661-676. [30] M. Fischler and R. Bolles, “Random Sampling Consensus: a Paradigm for Model Ftting with Application to Image Analysis and Automated Cartography,” Commun. Assoc. Comp. Mach., 1981, vol. 24, pp. 381-395. [31] H. Zghal, R. V. Dubey, and J. A. Euler, “Collision avoidance of a multiple degree of redundancy manipulator operating through a window,” Journal of Dynamic System and Measurement and Control, vol. 114, pp. 7171-7211, 1992. [32] “An Efficient Method to Compute the Inverse Jacobian Matrix in Visual Servoing, ” J.T. Lapresté ,F. Jurie, M. Dhome, F. Chaumette, LASMEA, UMR 6602 du CNRS,Université Blaise Pascal, 63177 Aubière Cedex, FranceIRISA/INRIA Rennes, Campus de Beaulieu, 35042 Rennes Cedex, France
摘要: 本論文提出使用主動式Kinect 感應模組來進行視覺導引和抓取的自主型雙手臂機器人的方法學和技術。主動式Kinect感應模組被設計安裝在自主型雙手臂機器人上用以偵測感興趣的物體,來達到物體辨識、位置定位以及實現視覺伺服的概念。自主型雙手臂機器人提出一個使用半閉迴路的視覺導引和抓取控制法則以及泡咖啡程序的應用。為了要達到全閉迴路的視覺導引抓取,本論文提出一個使用Jacobian 反運動學的視覺伺服方法來達到雙手臂的位置估測。為了說明提出此技術的有效性,執行數個移動雙手臂從起始姿態到要求姿態的模擬實驗。雙手臂機器人實驗驗證所提出方法的可行性。
This thesis presents methodologies and techniques for vision guided grasping and manipulations of an anthropomorphous two-armed robot with an active Kinect sensing module. An active Kinect sensing module mounted on an anthropomorphous two-armed robot is designed to search for objects of interest, achieve object recognition and position determination and fulfill visual servoing. A vision guided grasping and manipulations using semi closed-loop control is presented for the anthropomorphous two-armed robot with its application to coffee making. To achieve closed-loop vision guided grasping, a visual servoing method is presented by using a Jacobian inverse kinematics method and on-line position estimation of the dual arms. Several simulations have been performed to illustrate the effectiveness of the proposed techniques by moving the dual arms from the starting postures to desired postures. The performance and effectiveness of the proposed methods are exemplified by conducting the experimental two armed robot.
URI: http://hdl.handle.net/11455/9460
其他識別: U0005-2008201213323800
文章連結: http://www.airitilibrary.com/Publication/alDetailedMesh1?DocID=U0005-2008201213323800
Appears in Collections:電機工程學系所

文件中的檔案:

取得全文請前往華藝線上圖書館



Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.