System integration and experimental results

Geoffrey Taylor, Lindsay Kleeman

Research output: Chapter in Book/Report/Conference proceedingChapter (Book)Researchpeer-review


In this chapter, a hand-eye service robot capable of performing interactive tasks in a domestic environment is finally realized. The shape recovery, object modelling and classification, tracking and visual servoing components developed in earlier chapters are integrated into a framework illustrated by the block diagram in Figure 1.2 (page 7). For the experiments in this book, the system is implemented on an upper-torso humanoid robot. Humanoid robots are an appropriate test-bed since hand-eye coordination will be the next vital skill once humanoid robot research moves beyond bipedal motion. But just as importantly, a humanoid robot engenders a much greater sense of personality than other configurations! It is important to note that the methods in this book also apply to a range of camera and manipulator configurations, anthropomorphic or otherwise. The experimental platform, known as Metalman, is detailed in Section 7.1.

Original languageEnglish
Title of host publicationRobotic Manipulation
Subtitle of host publication3D Object Recognition, Tracking and Hand-Eye Coordination
Number of pages26
Publication statusPublished - 27 Sep 2006

Publication series

NameSpringer Tracts in Advanced Robotics
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X

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