NAO机器人的视觉伺服物品抓取操作  

Visual servo grasping of household objects for NAO robot

作　　者：袁丽[1] 田国会[1] 李国栋[1] 

机构地区：[1]山东大学控制科学与工程学院,山东济南250061

出　　处：《山东大学学报（工学版）》2014年第3期57-63,共7页Journal of Shandong University（Engineering Science）

基　　金：国家自然科学基金资助项目(61075092);山东省自然科学基金资助项目(ZR2011FM011);山东大学自主创新基金资助项目(2011JC017)

摘　　要：针对家庭环境中服务机器人物品的抓取问题,提出一种改进的基于位置的视觉伺服抓取算法。首先,利用Naomark标签完成对物体的快速识别,并通过世界平面单应矩阵分解对物体的位姿进行估计;然后,对NAO机器人的机械臂进行运动学建模,并分别设计单臂和双臂抓取的视觉伺服控制律;最后,为进一步提高抓取的稳定性和鲁棒性,对末端执行器进行路径规划。实验结果表明,本方法能够快速、稳定地抓取目标物品。An improved position-based visual servo （PBVS） grasping algorithm was proposed for the service robot in home environment.First, the rapid identification of object was achieved by using Naomark, and the position and pose information of the object was estimated through the world homography matrix decomposition.Secondly, the kinematic model of the NAO robot′s arm was established, and PBVS control law was designed for either unimanual or bimanual grasping.Finally, for purpose of improving the stability and robustness of the grasping operation, path planning of the end-effector was added to the original PBVS control law.Experimental results showed that the proposed method could grasp the objects rapidly and stably.

关 键 词：视觉伺服 NAO 机器人 单应分解 运动学模型 单臂双臂抓取 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]