Abstract
This article presents a supervised control position system, based on image processing and oriented to the cooperative work between two humanoid robots that work autonomously. The first robot picks up an object, carry it to the second robot and after that the same second robot places it in an endpoint, this is achieved through doing movements in straight line trajectories and turns of 180 degrees. Using for this the Microsoft Kinect , finding for each robot and the reference object its exact spatial position, through the color space conversion and filtering, derived from the information of the RGB camera that counts and obtains this result using the information transmitted from the depth sensor, obtaining the final location of each. Through programming in C #, and the developed algorithms that allow to command each robot in order to work together for transport the reference object, from an initial point, delivering this object from one robot to the other and depositing it in an endpoint. This experiment was tested performed the same trajectory, under uniform light conditions, achieving each time the successful delivering of the object
Highlights
In the last decades, the robotic systems and robot control techniques have evolved significantly
The following article describes the algorithms used for the identification of each robotic agent and the reference object, in the section 2, in the section 3 we present a fuzzy controller for control the results obtained and in the section 5 the conclusions
Two Robotis® Bioloid humanoids were used as robotic agents
Summary
The robotic systems and robot control techniques have evolved significantly. Among the more advanced structures are the humanoid type and among more advanced the techniques of supervision and control are machine vision systems and the intelligent algorithms, which give rise to cognitive robotics [1], for the latter case are outstanding Neural networks and fuzzy logic. This article covers the development of a control algorithm for two robotic humanoid agents, working together under the supervision of a machine vision system, which generates autonomy for the interaction between robotic agents. A control system of the position of the robotic agents, for move reference object between localizations, contributing to the state of art a fuzzy position controller, a 3D vision system using Kinect and the collaborative manipulation between two robotic humanoid agents, which together have not been widely developed.
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
