Task execution support of a wheelchair mounted robotic arm in activity of daily livings

Wei Wang; Yuki Suga; Shigeki Sugano

doi:10.1109/AIM.2010.5695838

Task execution support of a wheelchair mounted robotic arm in activity of daily livings

Wei Wang^*, Yuki Suga, Shigeki Sugano

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

In order to relieve the user cognitive burden as well as time consumption of task execution for the "wheelchair mounted robotic arm" application, we proposed a "Task knowledge representation" method that is able to model a large number of tasks coming across in activity of daily livings. Based on the mathematically represented task knowledge, a "Dynamical exploring method" was applied to explore the feasible and optimal robot action sequences that are executed automatically to accomplish the task execution. An integration framework to manage the system complexity is also introduced based on the RT middleware technology. Experiment was conducted to validate our method through the execution of a robotic scenario.

Original language	English
Title of host publication	2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010
Pages	201-206
Number of pages	6
DOIs	https://doi.org/10.1109/AIM.2010.5695838
Publication status	Published - 2010 Dec 1
Event	2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010 - Montreal, QC, Canada Duration: 2010 Jul 6 → 2010 Jul 9

Publication series

Name	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Conference

Conference	2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010
Country/Territory	Canada
City	Montreal, QC
Period	10/7/6 → 10/7/9

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Science Applications
Electrical and Electronic Engineering

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10.1109/AIM.2010.5695838

Cite this

Task execution support of a wheelchair mounted robotic arm in activity of daily livings. / Wang, Wei; Suga, Yuki; Sugano, Shigeki.
2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010. 2010. p. 201-206 5695838 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Wang, W, Suga, Y & Sugano, S 2010, Task execution support of a wheelchair mounted robotic arm in activity of daily livings. in 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010., 5695838, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, pp. 201-206, 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010, Montreal, QC, Canada, 10/7/6. https://doi.org/10.1109/AIM.2010.5695838

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Task execution support of a wheelchair mounted robotic arm in activity of daily livings

Abstract

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