Positioning and Pressing Elevator Button by Binocular Vision and Robot Manipulator There are two key problems of anthropomorphic dualarm robot up and down floors which are path planning and pressing buttons of elevator automatically. Our research group has solved the problem of robot path planning based on electronic map in early stage. As for the problem of pressing buttons automatically, two issues still need to be handled, including positioning elevator buttons in threedimensional space and pressing specific button automatically by the manipulator of robot. At present, our research group has achieved the accurate detection and recognition of elevator target button in the image. Besides, for the core issue, a new method of pressing target button automatically by manipulator with binocular vision servo is proposed. First, the binocular measurement is applied to get the distance and declination relationships between robot itself and target button, then we shall find the precise position of target button in visual threedimensional coordinate system and transform its position into the threedimensional coordinate system which takes robot shoulder as the origin. Thus, the manipulator movement model can be established by constructing relationships between the declination of three degrees of freedom and the realtime coordinates of manipulator, which contains extension of shoulder joint, Internal rotation of shoulder joint and flexionextension function of elbow joint, and each of them as a separate dimension. On the basis of this model, the PWM (Pulse Width Modulation) control technology is employed to make the manipulator terminal close to target button autonomously. Finally, with deviation relationships between the manipulator terminal and target button as well as the threshold which is set to modulate manipulator, the goal of pressing target button by manipulator can be achieved eventually. Furthermore, the algorithm was tested on mediumsized wheeled dualarm robot Hawk and results obtained verify the feasibility of the method proposed above can implement the function of pressing elevator target button by robot manipulator precisely, which manifests good robustness.

A Novel Imagebased Path Planning Algorithm for EyeinHand Visual Servoing of a Redundant Manipulator in a Human Centered Environment This paper presents a novel imagebased pathplanning and execution framework for visionbased control of a robot in a human centered environment. The proposed method involves applying Rapidlyexploring Random Tree (RRT) exploration to perform ImageBased Visual Servoing (IBVS) while satisfying multiple task constraints by exploiting robot redundancy. The methodology incorporates dataset of robotxe2x80x99s workspace images for pathplanning and design a controller based on visual servoing framework. This method is generic enough to include constraints like FieldofView (FoV) limits, joint limits, obstacles, various singularities, occlusions etc. in the planning stage itself using task function approach and thereby avoiding them during the execution. The use of pathplanning eliminates many of the inherent limitations of IBVS with eyeinhand configuration and makes the use of visual servoing practical for dynamic and complex environments. Several experiments have been performed on a UR5 robotic manipulator to demonstrate that it is an effective and robust way to guide a robot in such environments.