Dual-arm service robots for mobile operation in indoor environment

摘要

In this paper, based on modularization idea, a prototype of service robot is developed with stereo-vision and dual-arm that can be used for mobile operation. Firstly, based on stereo-vision recognizing color objects, a kind of real-time vision localization is proposed. Secondly, the robot can autonomously learn unknown complicated home environments, and build hierarchical map. Furthermore, combining dynamic object tracking strategy with elastic bands algorithm solves dynamic navigation. Thirdly, local object operations of single arm and dual arms are also considered and give related control method. All those techniques are essential for such a robot self-guiding in dynamic environment and navigate to operation. Finally, experiment performances of mobile operation verify validity and stability of these methods.