Please use this identifier to cite or link to this item: http://localhost/handle/Hannan/611200
Full metadata record
DC FieldValueLanguage
dc.contributor.authorJunmin Wuen_US
dc.contributor.authorXiangyu Yueen_US
dc.contributor.authorWei Lien_US
dc.date.accessioned2020-05-20T09:09:10Z-
dc.date.available2020-05-20T09:09:10Z-
dc.date.issued2016en_US
dc.identifier.issn1083-4435en_US
dc.identifier.issn1941-014Xen_US
dc.identifier.other10.1109/TMECH.2015.2429681en_US
dc.identifier.urihttp://localhost/handle/Hannan/142489en_US
dc.identifier.urihttp://localhost/handle/Hannan/611200-
dc.description.abstractIn this paper, we consider the systematic design and implementation of grasping and transportation by a mobile robot with low implementation complexity. The study is mainly divided into three aspects: 1) design of a mechanical gripper and an arm mounted on the robot for grasping; 2) design of the hardware communication configuration (HCC) for transportation guidance that includes a destination beacon and a sensor system on the robot that working together with some designed event-triggered communication mechanisms, among which the unique bearing-alignment mechanism is designed to calibrate the heading direction of the robot, the HCC is low cost in the sense of low energy consumption; and 3) an effective and low-cost heuristic transportation algorithm that is tightly incorporated with the designed HCC in an event-triggered manner. The particular contribution is the tight integration of the heuristic transportation algorithm and the HCC, and the very simple nature of the transportation algorithm dues to this integration, which passes some computational functions to the HCC. Numerical simulations and experiments are presented, showing the effectiveness of the proposed system.en_US
dc.publisherIEEEen_US
dc.relation.haspart7101839.pdfen_US
dc.subjectobstacle avoidance|motion planning|navigation guidance|localization|direction alignment|path planning|manipulation|sensor fusion|object grasping|mobile robot manipulation|transportationen_US
dc.titleIntegration of Hardware and Software Designs for Object Grasping and Transportation by a Mobile Robot With Navigation Guidance Via a Unique Bearing-Alignment Mechanismen_US
dc.typeArticleen_US
dc.journal.volume21en_US
dc.journal.issue1en_US
dc.journal.titleIEEE/ASME Transactions on Mechatronicsen_US
Appears in Collections:2016

Files in This Item:
File Description SizeFormat 
7101839.pdf1.21 MBAdobe PDFThumbnail
Preview File
Full metadata record
DC FieldValueLanguage
dc.contributor.authorJunmin Wuen_US
dc.contributor.authorXiangyu Yueen_US
dc.contributor.authorWei Lien_US
dc.date.accessioned2020-05-20T09:09:10Z-
dc.date.available2020-05-20T09:09:10Z-
dc.date.issued2016en_US
dc.identifier.issn1083-4435en_US
dc.identifier.issn1941-014Xen_US
dc.identifier.other10.1109/TMECH.2015.2429681en_US
dc.identifier.urihttp://localhost/handle/Hannan/142489en_US
dc.identifier.urihttp://localhost/handle/Hannan/611200-
dc.description.abstractIn this paper, we consider the systematic design and implementation of grasping and transportation by a mobile robot with low implementation complexity. The study is mainly divided into three aspects: 1) design of a mechanical gripper and an arm mounted on the robot for grasping; 2) design of the hardware communication configuration (HCC) for transportation guidance that includes a destination beacon and a sensor system on the robot that working together with some designed event-triggered communication mechanisms, among which the unique bearing-alignment mechanism is designed to calibrate the heading direction of the robot, the HCC is low cost in the sense of low energy consumption; and 3) an effective and low-cost heuristic transportation algorithm that is tightly incorporated with the designed HCC in an event-triggered manner. The particular contribution is the tight integration of the heuristic transportation algorithm and the HCC, and the very simple nature of the transportation algorithm dues to this integration, which passes some computational functions to the HCC. Numerical simulations and experiments are presented, showing the effectiveness of the proposed system.en_US
dc.publisherIEEEen_US
dc.relation.haspart7101839.pdfen_US
dc.subjectobstacle avoidance|motion planning|navigation guidance|localization|direction alignment|path planning|manipulation|sensor fusion|object grasping|mobile robot manipulation|transportationen_US
dc.titleIntegration of Hardware and Software Designs for Object Grasping and Transportation by a Mobile Robot With Navigation Guidance Via a Unique Bearing-Alignment Mechanismen_US
dc.typeArticleen_US
dc.journal.volume21en_US
dc.journal.issue1en_US
dc.journal.titleIEEE/ASME Transactions on Mechatronicsen_US
Appears in Collections:2016

Files in This Item:
File Description SizeFormat 
7101839.pdf1.21 MBAdobe PDFThumbnail
Preview File
Full metadata record
DC FieldValueLanguage
dc.contributor.authorJunmin Wuen_US
dc.contributor.authorXiangyu Yueen_US
dc.contributor.authorWei Lien_US
dc.date.accessioned2020-05-20T09:09:10Z-
dc.date.available2020-05-20T09:09:10Z-
dc.date.issued2016en_US
dc.identifier.issn1083-4435en_US
dc.identifier.issn1941-014Xen_US
dc.identifier.other10.1109/TMECH.2015.2429681en_US
dc.identifier.urihttp://localhost/handle/Hannan/142489en_US
dc.identifier.urihttp://localhost/handle/Hannan/611200-
dc.description.abstractIn this paper, we consider the systematic design and implementation of grasping and transportation by a mobile robot with low implementation complexity. The study is mainly divided into three aspects: 1) design of a mechanical gripper and an arm mounted on the robot for grasping; 2) design of the hardware communication configuration (HCC) for transportation guidance that includes a destination beacon and a sensor system on the robot that working together with some designed event-triggered communication mechanisms, among which the unique bearing-alignment mechanism is designed to calibrate the heading direction of the robot, the HCC is low cost in the sense of low energy consumption; and 3) an effective and low-cost heuristic transportation algorithm that is tightly incorporated with the designed HCC in an event-triggered manner. The particular contribution is the tight integration of the heuristic transportation algorithm and the HCC, and the very simple nature of the transportation algorithm dues to this integration, which passes some computational functions to the HCC. Numerical simulations and experiments are presented, showing the effectiveness of the proposed system.en_US
dc.publisherIEEEen_US
dc.relation.haspart7101839.pdfen_US
dc.subjectobstacle avoidance|motion planning|navigation guidance|localization|direction alignment|path planning|manipulation|sensor fusion|object grasping|mobile robot manipulation|transportationen_US
dc.titleIntegration of Hardware and Software Designs for Object Grasping and Transportation by a Mobile Robot With Navigation Guidance Via a Unique Bearing-Alignment Mechanismen_US
dc.typeArticleen_US
dc.journal.volume21en_US
dc.journal.issue1en_US
dc.journal.titleIEEE/ASME Transactions on Mechatronicsen_US
Appears in Collections:2016

Files in This Item:
File Description SizeFormat 
7101839.pdf1.21 MBAdobe PDFThumbnail
Preview File