Image-Based Control of Two Mobile Robots for Object Pushing

被引：0
作者：
Lopez-Nicolas, Gonzalo [1 ]
Oezgur, Erol [2 ]
Mezouar, Youcef [3 ]
机构：
[1] Univ Zaragoza, Inst Invest Ingn Aragon, E-50009 Zaragoza, Spain
[2] Univ Auvergne ISIT ALCoV, Clermont Ferrand, France
[3] UBP IFMA CNRS, Inst Pascal, Clermont Ferrand, France
来源：
2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | 2015年
关键词：
MANIPULATION; MOTION;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper shows how to push an unknown object in the plane from an initial pose to a target pose with two cooperating mobile robots. On the object motion, we deliberately impose non-holonomic velocity constraint with pushing mobile robots. This yields smooth and efficient trajectories. Pushing manipulation is performed, for the first time, with a new uncalibrated image-based control scheme. This is achieved by transforming the image information to a scaled Euclidean space without using any metric information or calibration. Stability of the control law is also demonstrated.
引用
收藏
页码：5472 / 5478
页数：7
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