TY - GEN
T1 - Design of object recognition and operation system for escort robot
AU - Zhang, Peng
AU - Chen, Diansheng
AU - Mao, Jiayue
AU - Wang, Min
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/7/2
Y1 - 2018/7/2
N2 - In daily life, manipulating objects is one of the most frequent behaviors which is often difficult for the elderly and the disabled to complete due to physical factors. With the aging trend of society and the development of robot technology, it is a trend to use the escort robot to assist people in manipulating objects. Therefore, the object recognition and operation of the escort robot is one of the key research directions of robot technology. It contains many key technologies, such as object recognition technology, motion planning and control technology and communication technology, which determine the ability of escort robot to interact with the environment to provide high quality service. In this paper, an object recognition and operation system for escort robot is developed which includes object recognition module, motion planning and control module and communication module. In the object recognition module, an improved SURF algorithm is designed to match the feature points and recognize the objects, which has a high matching accuracy. Motion planning and control module based on Moveit realizes the planning and execution of actions independently. In the communication module, dedicated communication protocols are designed and applied to ensure that each module can work independently, stably and efficiently. In addition, the system is tested and verified in this paper.
AB - In daily life, manipulating objects is one of the most frequent behaviors which is often difficult for the elderly and the disabled to complete due to physical factors. With the aging trend of society and the development of robot technology, it is a trend to use the escort robot to assist people in manipulating objects. Therefore, the object recognition and operation of the escort robot is one of the key research directions of robot technology. It contains many key technologies, such as object recognition technology, motion planning and control technology and communication technology, which determine the ability of escort robot to interact with the environment to provide high quality service. In this paper, an object recognition and operation system for escort robot is developed which includes object recognition module, motion planning and control module and communication module. In the object recognition module, an improved SURF algorithm is designed to match the feature points and recognize the objects, which has a high matching accuracy. Motion planning and control module based on Moveit realizes the planning and execution of actions independently. In the communication module, dedicated communication protocols are designed and applied to ensure that each module can work independently, stably and efficiently. In addition, the system is tested and verified in this paper.
UR - https://www.scopus.com/pages/publications/85062570487
U2 - 10.1109/RCAR.2018.8621756
DO - 10.1109/RCAR.2018.8621756
M3 - 会议稿件
AN - SCOPUS:85062570487
T3 - 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018
SP - 90
EP - 95
BT - 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018
Y2 - 1 August 2018 through 5 August 2018
ER -