NDLI: Eye-in-hand/eye-to-hand configuration for a WMRA control based on visual servoing

Content Provider	IEEE Xplore Digital Library
Author	Elarbi-Boudihir, M. Al-Shalfan, K.A.
Copyright Year	2013
Description	Author affiliation: AI Lab., Imam Univ., Riyadh, Saudi Arabia (Elarbi-Boudihir, M.) \|\| Comput. Sci. Dept., Imam Univ., Riyadh, Saudi Arabia (Al-Shalfan, K.A.)
Abstract	People suffering from severe disability like spinal cord injury dysfunctions are unable to control a wheelchair via a common joystick interface. For this target group we have developed a robotic wheelchair able to perform autonomous navigation and operate on different driving modes depending on the disability type of its user. Moreover, a 7-DoF wheelchair - mounted robotic arm (WMRA) was added to the 2-DoF nonholonomic wheelchair platform. In this paper, an image - based visual servoing (IBVS) approach is described with a Speeded Up Robust local Features detection (SURF) using eye-in-hand and eye-to-hand camera configuration for combined control of mobility and manipulation of the 9-DoF WMRA system to execute activities of daily living (ADL) autonomously. Selecting a control mode is done either by voice or by the touchscreen. Experiments with human users highlight advantages of augmentation in wheelchairs.
Starting Page	1
Ending Page	6
File Size	1632529
Page Count	6
File Format	PDF
ISBN	9781467362986
DOI	10.1109/ECMSM.2013.6648971
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-06-24
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Assistive Robotic Manipulator Wheelchairs Visual Servoing Robot vision systems Grasping Hand-eye Configuration Cameras Mobile robots Floors Robot vision system
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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