TY - GEN
T1 - Object manipulation of humanoid robot based on combined optimization approach
AU - Rajpar, Altaf Hussain
AU - Huang, Qiang
AU - Zhang, Weimin
AU - Jia, Dongyong
AU - Li, Kejie
PY - 2007
Y1 - 2007
N2 - In this paper an object manipulation approach is proposed, in which object location is detected through stereo vision, pre-reaching and alignment of the object with hand is based on image features, and finally inverse kinematics control algorithm is developed. A new method for computing numerical solution to the inverse kinematics problem of robot manipulator is developed. The proposed method is based on combination of two nonlinear programming techniques. Forward recursion formula with backward cycle computation method is used to reach in the vicinity of target object and then FBS method is used to grasp object in real-time. Proposed method is numerically stable, computationally effective and it is not sensitive to singular configuration of the manipulator. Effectiveness of the proposed method is achieved through simulated and experimental results.
AB - In this paper an object manipulation approach is proposed, in which object location is detected through stereo vision, pre-reaching and alignment of the object with hand is based on image features, and finally inverse kinematics control algorithm is developed. A new method for computing numerical solution to the inverse kinematics problem of robot manipulator is developed. The proposed method is based on combination of two nonlinear programming techniques. Forward recursion formula with backward cycle computation method is used to reach in the vicinity of target object and then FBS method is used to grasp object in real-time. Proposed method is numerically stable, computationally effective and it is not sensitive to singular configuration of the manipulator. Effectiveness of the proposed method is achieved through simulated and experimental results.
KW - Alignment
KW - Grasp and inverse kinematics
KW - Pre-reaching
KW - Target detection
UR - http://www.scopus.com/inward/record.url?scp=37049035109&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2007.4303710
DO - 10.1109/ICMA.2007.4303710
M3 - Conference contribution
AN - SCOPUS:37049035109
SN - 1424408288
SN - 9781424408283
T3 - Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
SP - 1148
EP - 1153
BT - Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
T2 - 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
Y2 - 5 August 2007 through 8 August 2007
ER -