2 research outputs found
Solution to the problem of designing a safe configuration of a human upper limb robotic prosthesis
ΠΠ° ΡΠ΅Π³ΠΎΠ΄Π½ΡΡΠ½ΠΈΠΉ Π΄Π΅Π½Ρ ΠΎΡΡΠ°Π΅ΡΡΡ Π°ΠΊΡΡΠ°Π»ΡΠ½ΠΎΠΉ ΡΠ°Π·ΡΠ°Π±ΠΎΡΠΊΠ° ΠΌΠ΅ΡΠΎΠ΄ΠΎΠ² ΠΊΠΎΠ½ΡΡΠΎΠ»Ρ ΠΏΠΎΠ·ΠΈΡΠΈΠΎΠ½ΠΈΡΠΎΠ²Π°Π½ΠΈΡ ΡΠΎΠ±ΠΎΡΠΈΡΠ΅ΡΠΊΠΈΡ
ΠΌΠ°Π½ΠΈΠΏΡΠ»ΡΡΠΎΡΠΎΠ² Ρ ΠΏΠΎΠΌΠΎΡΡΡ ΡΠΈΡΡΠ΅ΠΌ ΡΠ΅Ρ
Π½ΠΈΡΠ΅ΡΠΊΠΎΠ³ΠΎ Π·ΡΠ΅Π½ΠΈΡ (Π‘Π’Π) Ρ ΡΠ΅Π»ΡΡ ΠΎΠ±Π΅ΡΠΏΠ΅ΡΠ΅Π½ΠΈΡ Π±Π΅Π·ΠΎΠΏΠ°ΡΠ½ΠΎΡΡΠΈ ΠΏΠ°ΡΠΈΠ΅Π½ΡΠΎΠ² ΠΈ ΠΌΠ΅Π΄ΠΈΡΠΈΠ½ΡΠΊΠΎΠ³ΠΎ ΠΏΠ΅ΡΡΠΎΠ½Π°Π»Π° ΠΏΡΠΈ ΡΠ°Π±ΠΎΡΠ΅ Ρ ΠΌΠ΅Π΄ΠΈΡΠΈΠ½ΡΠΊΠΈΠΌΠΈ ΡΠΎΠ±ΠΎΡΠΈΠ·ΠΈΡΠΎΠ²Π°Π½Π½ΡΠΌΠΈ ΡΠ΅Π°Π±ΠΈΠ»ΠΈΡΠ°ΡΠΈΠΎΠ½Π½ΡΠΌΠΈ ΡΡΡΡΠΎΠΉΡΡΠ²Π°ΠΌΠΈ. Π¦Π΅Π»ΡΡ ΠΈΡΡΠ»Π΅Π΄ΠΎΠ²Π°Π½ΠΈΡ Π±ΡΠ»ΠΎ ΡΠ°Π·ΡΠ°Π±ΠΎΡΠ°ΡΡ ΠΌΠ΅ΡΠΎΠ΄ ΠΏΠΎΠ²ΡΡΠ΅Π½ΠΈΡ Π±Π΅Π·ΠΎΠΏΠ°ΡΠ½ΠΎΡΡΠΈ ΠΏΡΠΈΠΌΠ΅Π½Π΅Π½ΠΈΡ ΡΠΎΠ±ΠΎΡΠΈΠ·ΠΈΡΠΎΠ²Π°Π½Π½ΡΡ
ΠΌΠ΅Π΄ΠΈΡΠΈΠ½ΡΠΊΠΈΡ
ΡΠ΅Π°Π±ΠΈΠ»ΠΈΡΠ°ΡΠΈΠΎΠ½Π½ΡΡ
ΡΡΡΡΠΎΠΉΡΡΠ² ΠΏΡΡΠ΅ΠΌ ΡΠ°Π·ΡΠ°Π±ΠΎΡΠΊΠΈ ΠΈ Π°ΠΏΡΠΎΠ±Π°ΡΠΈΠΈ Π°Π»Π³ΠΎΡΠΈΡΠΌΠ° ΡΠ°ΡΡΠ΅ΡΠ° ΡΠ³Π»ΠΎΠ²ΡΡ
ΠΏΠΎΠ»ΠΎΠΆΠ΅Π½ΠΈΠΉ ΡΠΎΠ±ΠΎΡΠΈΠ·ΠΈΡΠΎΠ²Π°Π½Π½ΡΡ
ΠΌΠ°Π½ΠΈΠΏΡΠ»ΡΡΠΎΡΠΎΠ² ΠΈΠ»ΠΈ ΡΠΎΠ±ΠΎΡΠΈΡΠ΅ΡΠΊΠΈΡ
ΠΏΡΠΎΡΠ΅Π·ΠΎΠ², ΠΏΡΠΈΠΌΠ΅Π½ΡΠ΅ΠΌΡΡ
Π² Π²ΠΎΡΡΡΠ°Π½ΠΎΠ²ΠΈΡΠ΅Π»ΡΠ½ΠΎΠΌ Π»Π΅ΡΠ΅Π½ΠΈΠΈ ΠΈ ΠΏΠΎΠ·Π²ΠΎΠ»ΡΡΡΠΈΡ
Π²ΠΎΡΠΏΡΠΎΠΈΠ·Π²Π΅ΡΡΠΈ Π΅ΡΡΠ΅ΡΡΠ²Π΅Π½Π½ΡΡ ΡΡΠ°Π΅ΠΊΡΠΎΡΠΈΡ ΠΏΠ΅ΡΠ΅ΠΌΠ΅ΡΠ΅Π½ΠΈΡ ΡΡΠΊΠΈ ΡΠ΅Π»ΠΎΠ²Π΅ΠΊΠ° ΠΏΠΎΠ΄ ΠΊΠΎΠ½ΡΡΠΎΠ»Π΅ΠΌ Π‘Π’Π. ΠΠ°Π½ΠΎ ΠΎΠΏΠΈΡΠ°Π½ΠΈΠ΅ ΡΠΎΠ±ΠΎΡΠΈΠ·ΠΈΡΠΎΠ²Π°Π½Π½ΠΎΠ³ΠΎ ΠΌΠ°Π½ΠΈΠΏΡΠ»ΡΡΠΎΡΠ°, ΠΈΡΠΏΠΎΠ»ΡΠ·ΠΎΠ²Π°Π½Π½ΠΎΠ³ΠΎ ΠΏΡΠΈ ΠΏΡΠΎΠ²Π΅Π΄Π΅Π½ΠΈΠΈ ΠΈΡΡΠ»Π΅Π΄ΠΎΠ²Π°Π½ΠΈΠΉ, ΠΏΡΠ΅Π΄ΡΡΠ°Π²Π»Π΅Π½Ρ ΡΡΡΠ΅ΡΡΠ²ΡΡΡΠΈΠ΅ ΠΏΠΎΠ΄Ρ
ΠΎΠ΄Ρ ΠΊ ΡΠ°ΡΡΠ΅ΡΡ ΡΠ³Π»ΠΎΠ²ΡΡ
ΠΏΠΎΠ»ΠΎΠΆΠ΅Π½ΠΈΠΉ ΠΏΡΠΈΠ²ΠΎΠ΄ΠΎΠ², Π° ΡΠ°ΠΊΠΆΠ΅ ΠΎΠΏΠΈΡΠ°Π½ΠΈΠ΅ ΠΏΡΠ΅Π΄Π»Π°Π³Π°Π΅ΠΌΠΎΠ³ΠΎ Π°Π»Π³ΠΎΡΠΈΡΠΌΠ°. ΠΡΠΈΠ²Π΅Π΄Π΅Π½Ρ ΡΡΠ°Π²Π½ΠΈΡΠ΅Π»ΡΠ½ΡΠ΅ ΡΠ΅Π·ΡΠ»ΡΡΠ°ΡΡ ΡΠ°Π±ΠΎΡΡ ΠΏΡΠ΅Π΄Π»Π°Π³Π°Π΅ΠΌΠΎΠ³ΠΎ Π°Π»Π³ΠΎΡΠΈΡΠΌΠ° ΠΈ ΡΡΡΠ΅ΡΡΠ²ΡΡΡΠΈΡ
ΠΌΠ΅ΡΠΎΠ΄ΠΎΠ² ΡΠ°ΡΡΠ΅ΡΠ° ΡΠ³Π»ΠΎΠ²ΡΡ
ΠΏΠΎΠ»ΠΎΠΆΠ΅Π½ΠΈΠΉ ΠΏΡΠΈΠ²ΠΎΠ΄ΠΎΠ² ΡΠΎΠ±ΠΎΡΠΈΠ·ΠΈΡΠΎΠ²Π°Π½Π½ΡΡ
ΠΌΠ°Π½ΠΈΠΏΡΠ»ΡΡΠΎΡΠΎΠ² (ΡΠΎΠ±ΠΎΡΠΈΡΠ΅ΡΠΊΠΈΡ
ΠΏΡΠΎΡΠ΅Π·ΠΎΠ²) ΠΈ ΠΏΡΠ΅Π΄ΠΏΠΎΠ»Π°Π³Π°Π΅ΠΌΡΠ΅ Π½Π°ΠΏΡΠ°Π²Π»Π΅Π½ΠΈΡ Π΄Π»Ρ Π΅Π³ΠΎ Π΄ΠΎΡΠ°Π±ΠΎΡΠΊΠΈ
Object manipulation by a humanoid robot via single camera pose estimation
Humanoid robots are designed to be used in daily life as assistance robots for people. They are expected to fill the jobs that require physical labor. These robots are also considered in healthcare sector. The ultimate goal in humanoid robotics is to reach a point where robots can truly communicate with people, and to be a part of labor force. Usual daily environment of a common person contains objects with different geometric and texture features. Such objects should be easily recognized, located and manipulated by a robot when needed. These tasks require high amount of information from environment. The Computer Vision field interests in extraction and use of visual cues for computer systems. Visual data captured with cameras contains the most of the information needed about the environment for high level tasks relative to the other sensors. Most of the high level tasks on humanoid robots require the target object to be segmented in image and located in the 3D environment. Also, the object should be kept in image so that the information about the object can be retrieved continuously. This can be achieved by gaze control schemes by using visual feedback to drive neck motors of the robot. In this thesis an object manipulation algorithm is proposed for a humanoid robot. A white object with red square marker is used as the target object. The object is segmented by color information. Corners of the red marker is found and used for the pose estimation algorithm and gaze control. The pose information is used for navigation to the object and for the grasping action. The described algorithm is implemented on the humanoid experiment platform SURALP (Sabanci University ReseArch Labaratory Platform)