ICRA 2012 Paper Abstract

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Paper TuB310.3

Pence, William (University of South Florida), Farelo, Fabian (University of South Florida), Alqasemi, Redwan (University of South Florida), Sun, Yu (University of South Florida), Dubey, Rajiv (University of South Florida)

Visual Servoing Control of a 9-DoF WMRA to Perform ADL Tasks

Scheduled for presentation during the Interactive Session "Interactive Session TuB-3" (TuB310), Tuesday, May 15, 2012, 11:30−12:00, Ballroom D

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on December 13, 2017

Keywords Visual Servoing, Mobile Manipulation, Visual Navigation

Abstract

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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