Vision-Based Macro-Micro Mobile Manipulation
Research output: Book/Report › Doctoral thesis › Collection of Articles
|Publisher||Tampere University of Technology|
|Number of pages||43|
|Publication status||Published - 19 Oct 2018|
|Publication type||G5 Doctoral dissertation (article)|
|Name||Tampere University of Technology. Publication|
Seven publications have been developed to address these issues from various perspectives. It is necessary to carefully address changes in camera outputs, discontinuities, variable latencies, and quantization errors and uncertainties. In particular, there are challenging issues about output of numerical iterative methods used for classic controllers with assumptions of well-behaved and continuous setpoints and feedbacks. Due to the multidisciplinary nature of this problem, the primary objective is to ensure that beneﬁts are realized by lessens learned from the everyday motions of humans as a smart agent. Thus, the camera should act as the eyes, the mobile platform (i.e., the macro robot) as the body trunk, and the manipulator (i.e., the micro robot) as the arm.
The thesis analyzes two main research questions considering practical issues caused by the position feedback of several object detection methods. It is shown that a complementary M-estimator and accurate synchronization of signals can signiﬁcantly smoothen a visual feedback for the control purposes. Moreover, another focus of this research is to formulate coordination of macro robot and micro robot based on the performance of the visual feedback and vehicle capabilities.
The solutions addressed in this thesis suggest the use of online evaluations of sensor feedback to determine its quality. This evaluation plays a key role in both macro – micro coordination and integration of visual feedback into robots’ motion controllers.