Autonomous Mobility & Manipulation of a 9-DoF WMRA
نویسندگان
چکیده
Two prototypes of a 9-DoF wheelchair-mounted robotic arm (WMRA) have been developed as assistive devices, consisting of a 7-DoF robotic arm and a 2-DoF power wheelchair. Combined kinematics and redundancy resolution have been previously implemented. In this work, we focus on control methods to allow autonomous mobility and manipulation for the execution of activities of daily living (ADL). Results of physical testing are also presented. Keywords-WMRA; ADL; rehabilitation; visual servoing.
منابع مشابه
A 9-DoF Wheelchair-Mounted Robotic Arm System: Design, Control, Brain-Computer Interfacing, and Testing
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تاریخ انتشار 2011