Visual Servoing Control of a 9-DoF WMRA to Perform ADL Tasks
wheelchairs, dexterous manipulators, feature extraction, living systems, mobile robots, optimisation, robot vision, trajectory control, visual servoing
Digital Object Identifier (DOI)
The wheelchair-mounted robotic arm (WMRA) is a mobile manipulator that consists of a 7-DoF robotic arm and a 2-DoF power wheelchair platform. Previous works combined mobility and manipulation control using weighted optimization for dual-trajectory tracking . In this work, we present an image-based visual servoing (IBVS) approach with scale-invariant feature transform (SIFT) using an eye-in-hand monocular camera for combined control of mobility and manipulation for the 9-DoF WMRA system to execute activities of daily living (ADL) autonomously. We also present results of the physical implementation with a simple “Go to and Pick Up” task and the “Go to and Open the Door” task previously published in simulation, using IBVS to aid the task performance.
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Citation / Publisher Attribution
2012 IEEE International Conference on Robotics and Automation, Saint Paul, MN, 2012, p. 916-922.
Scholar Commons Citation
Pence, William Garrett; Farelo, Fabian; Alqasemi, Redwan; Sun, Yu; and Dubey, Rajiv, "Visual Servoing Control of a 9-DoF WMRA to Perform ADL Tasks" (2012). Computer Science and Engineering Faculty Publications. 94.