TY - GEN
T1 - SAM
T2 - 17th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN
AU - Remazeilles, Anthony
AU - Leroux, Christophe
AU - Chalubert, Gérard
PY - 2008
Y1 - 2008
N2 - 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 arm's 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.
AB - 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 arm's 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.
UR - https://www.scopus.com/pages/publications/52949085829
U2 - 10.1109/ROMAN.2008.4600685
DO - 10.1109/ROMAN.2008.4600685
M3 - Conference contribution
AN - SCOPUS:52949085829
SN - 9781424422135
T3 - Proceedings of the 17th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN
SP - 315
EP - 321
BT - Proceedings of the 17th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN
Y2 - 1 August 2008 through 3 August 2008
ER -