SAM: A robotic butler for handicapped people
SAM: A robotic butler for handicapped people
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SAM：残疾人机器人管家
DOI：
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发表时间：
2008
期刊：
影响因子：
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通讯作者：
Gerard Chalubert
中科院分区：
文献类型：
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作者：
Anthony Remazeilles;C. Leroux;Gerard Chalubert
本文介绍了一种为残疾人服务的机器人系统。SAM是一个移动的平台，可以在类似公寓的环境中抓取任何有纹理的物体。利用安装在移动的单元上的机器人臂实现物体抓取。得益于armpsilas夹持器上的立体装置，用户可以在远程屏幕上以非常简单的方式定义要抓取的物体，并且通过视觉伺服自动执行抓取。操作的调度由自动机定义和控制，自动机由场景管理器动态解释。最后，通过DPWS层，利用Web服务实现了不同组件之间的通信，为智能家居中任意设备之间的数据共享提供了一种有效的解决方案。实验证明了我们的方法的有效性。
This article presents a service robotic system for disabled people. SAM is a mobile platform that grasps any textured object in an apartment-like environment. The object grasping is realized with a robotic arm, mounted onto the mobile unit. Thanks to the stereo rig on the armpsilas gripper, the user defines the object to grasp on a remote screen, in a very simple way, and the grasping is autonomously performed by visual servoing. The scheduling of the operations is defined and controlled with automatons that are dynamically interpreted with a scenario manager. At last, the communication between the different components is realized with web services through a DPWS layer, providing an efficient solution for sharing data between any device of an intelligent home. Experiments confirm the validity of our approach.