A simple yet smart head module for mobile manipulators

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dc.contributor.authorAguilar, Martín
dc.contributor.authorRonquillo, Diego
dc.contributor.authorRosell Gratacòs, Jan
dc.contributor.authorPalomo Avellaneda, Leopold
dc.contributor.authorSuárez Feijóo, Raúl
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.contributor.otherUniversitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials
dc.date.accessioned2023-11-16T11:16:43Z
dc.date.available2023-11-16T11:16:43Z
dc.date.issued2023
dc.description© 2023 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting /republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works
dc.description.abstractMobile manipulators working in semi-structured human environments need smart vision capabilities to perceive the world and interact with human operators. With this purpose in mind, this paper presents the development of a robotic head module composed of an OAK-D camera mounted on a pan-and-tilt WidowX XM430 structure. The OAK-D camera provides high-resolution images, including stereo vision and depth sensing, and advanced capabilities based on embedded artificial intelligence functions. These features combined with the high-range motion of the WidowX XM430, allow the head module to have advanced visual tracking capabilities. The implementation has been done using ROS (Robot Operating System), which allows the head module to be easily integrated to any mobile manipulator.
dc.description.peerreviewedPeer Reviewed
dc.description.versionPostprint (author's final draft)
dc.format.extent4 p.
dc.identifier.citationAguilar, M. [et al.]. A simple yet smart head module for mobile manipulators. A: IEEE International Conference on Emerging Technologies and Factory Automation. "2023 IEEE 28th International Conference on Emerging Technologies and Factory Automation (ETFA)". 2023, p. 1-4. ISBN 979-8-3503-3991-8. DOI 10.1109/ETFA54631.2023.10275645.
dc.identifier.doi10.1109/ETFA54631.2023.10275645
dc.identifier.isbn979-8-3503-3991-8
dc.identifier.urihttps://hdl.handle.net/2117/396497
dc.language.isoeng
dc.relation.publisherversionhttps://ieeexplore.ieee.org/document/10275645
dc.rights.accessOpen Access
dc.rights.licensenameAttribution-NonCommercial-NoDerivatives 4.0 International
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshRobots
dc.subject.lemacRobots
dc.subject.otherMechatronic Systems
dc.subject.otherPerception and Sensing
dc.subject.otherMotion Control Systems
dc.subject.otherAutonomous Robots
dc.titleA simple yet smart head module for mobile manipulators
dc.typeConference report
dspace.entity.typePublication
local.citation.authorAguilar, M.; Ronquillo, D.; Rosell, J.; Palomo, L.; Suarez, R.
local.citation.contributorIEEE International Conference on Emerging Technologies and Factory Automation
local.citation.endingPage4
local.citation.publicationName2023 IEEE 28th International Conference on Emerging Technologies and Factory Automation (ETFA)
local.citation.startingPage1
local.identifier.drac37710436

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