Mobile Manipulator Control Based on Voice and Visual Signal

被引：0
|
作者：
Kong Kam Fong [1 ]
Li Yangmin [1 ,2 ]
机构：
[1] Univ Macau, Dept Electromech Engn, Macau 999078, Peoples R China
[2] Tianjin Univ Technol, Sch Mech Engn, Tianjin 300384, Peoples R China
来源：
2013 32ND CHINESE CONTROL CONFERENCE (CCC) | 2013年
关键词：
Mobile manipulator; Voice signal; Visual signal; Control;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, two kinds of methods are used to control the mobile manipulator in terms of voice signal control approach and visual signal control approach. In voice signal control approach, the mobile manipulator can perform some actions according to the operator's speaking voice input through a microphone. For example, the robot can be commanded to go forward or backward in specified distance, turn left or right with specified angle, even can follow up "8" shape trajectory and catch a ball. In visual approach, the mobile robot can accomplish some actions according to the operator's gestures of two hands using Kinect sensor information. It gets the depth image of two hands in spatial coordinates and calculates the relative distance of them to take some actions by an onboard computer. An embedded single board computer is installed in mobile robot Pioneer2 DX for enhancing remote control and running program's ability.
引用
收藏
页码：4286 / 4291
页数：6
相关论文
共 50 条
  • [1] Visual Servo Control of Omnidirectional Mobile Manipulator
    Zhu Guangyao
    Xing Guansheng
    Sun Hansong
    2020 CHINESE AUTOMATION CONGRESS (CAC 2020), 2020, : 2857 - 2862
  • [2] Enhanced Visual Predictive Control Scheme for Mobile Manipulator
    Bildstein, H.
    Durand-Petiteville, A.
    Cadenat, V.
    2023 EUROPEAN CONFERENCE ON MOBILE ROBOTS, ECMR, 2023, : 337 - 343
  • [3] Visual Predictive Control for mobile manipulator: Visibility, manipulability, and stability
    Bildstein, H.
    Cadenat, V.
    Durand-Petiteville, A.
    ROBOTICS AND AUTONOMOUS SYSTEMS, 2024, 180
  • [4] Control barrier function based visual servoing for Mobile Manipulator Systems under functional limitations
    Heshmati-Alamdari, Shahab
    Sharifi, Maryam
    Karras, George C.
    Fourlas, George K.
    ROBOTICS AND AUTONOMOUS SYSTEMS, 2024, 182
  • [5] Robust Image Based Visual Servoing of Omnidirectional Mobile Manipulator
    Jo K.
    Chwa D.
    Transactions of the Korean Institute of Electrical Engineers, 2022, 71 (01): : 132 - 139
  • [6] An Advanced Control Method of Manipulator Based on Visual Servo Control
    Wu, Gui
    Zeng, Peng
    2023 35TH CHINESE CONTROL AND DECISION CONFERENCE, CCDC, 2023, : 4343 - 4347
  • [7] Mobile Manipulator Tracking Control Based on Observer Desi
    Ren, Yuwei
    Wang, Hong
    2010 8TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA), 2010, : 849 - 854
  • [8] Movement control of a mobile manipulator based on cost optimization
    Lee, Kwan-Houng
    Cho, Tae-jun
    NEURAL INFORMATION PROCESSING, PT 3, PROCEEDINGS, 2006, 4234 : 731 - 737
  • [9] VISUAL CONTROL OF ROBOTIC MANIPULATOR BASED ON NEURAL NETWORKS
    HASHIMOTO, H
    KUBOTA, T
    SATO, M
    HARASHIMA, F
    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 1992, 39 (06) : 490 - 496
  • [10] Visual Servo Control of a Robot Manipulator based on Passivity
    Soria, Carlos
    Roberti, Flavio
    Carelli, Ricardo
    Sebastian, Jose M.
    REVISTA IBEROAMERICANA DE AUTOMATICA E INFORMATICA INDUSTRIAL, 2008, 5 (04): : 54 - +
12345