Visual Mark for Robot Manipulation and Its RT-Middleware Component
- 1 January 2008
- journal article
- Published by Taylor & Francis in Advanced Robotics
- Vol. 22 (6-7) , 633-655
- https://doi.org/10.1163/156855308x305254
Abstract
In this paper, a visual marker called Coded Landmark for Ubiquitous Environment (CLUE) is proposed for easy robot manipulation using the RT-middleware component technology. Currently, home service robots are being expected to work in human living environments; however, such environments might be highly complex for robots. One of the solutions to solve such problems might be the development of structured environments for robots, such as visual marks in human living space, which could often be used in industrial fields, e.g., marked lines for mobile robots in industry. For application of structured environments from the factory to the human living environment, the affinity to humans might be important, such as marks invisible to humans, but visible to robots. In this paper, an invisible marker, CLUE, which is based on QR codes, is proposed; this will provide robots with information on the objects that are to be manipulated and visual guidance required for robot manipulation based on the RT-middleware platform. Finally, by means of actual robot applications, the method to use the proposed robot technology component is shown.Keywords
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