Observation-based Assistance by Mobile Robot for Object Handling of its Partner Robot

Toyomi Fujita, Tetsuya Endo

Abstract

The authors consider a situation in which a working robot can not detect a target object to handle due to a sensor occlusion. If another cooperative robot that has a camera observes the working robot with the target object and detects their positions and orientations, it will be possible for the working robot to complete the handling task. This study proposes a method for such an indirect cooperation with assistance based on an observation by the partner robot. The observing robot obtains corresponding points of SIFT(Scale-Invariant Feature Transformation) on the working robot with hand and the target object from multiple captured images. The 3-D position of the target object and hand motion of the working robot can be detected by applying stereo vision theory to the points. The working robot is then able to get the relation between its hand and the target object indirectly from the observing robot. This paper describes each process to establish the indirect cooperation. Fundamental experiments confirmed the validity of presented method.

References

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Paper Citation


in Harvard Style

Fujita T. and Endo T. (2013). Observation-based Assistance by Mobile Robot for Object Handling of its Partner Robot . In Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-71-6, pages 458-463. DOI: 10.5220/0004592204580463


in Bibtex Style

@conference{icinco13,
author={Toyomi Fujita and Tetsuya Endo},
title={Observation-based Assistance by Mobile Robot for Object Handling of its Partner Robot},
booktitle={Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2013},
pages={458-463},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004592204580463},
isbn={978-989-8565-71-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Observation-based Assistance by Mobile Robot for Object Handling of its Partner Robot
SN - 978-989-8565-71-6
AU - Fujita T.
AU - Endo T.
PY - 2013
SP - 458
EP - 463
DO - 10.5220/0004592204580463