nach oben

vorheriger Artikel Towards functional labeling of utility vehicle ...

nächster Artikel An auction behavior-based robotic architecture ...

Tipp

Multi-modal control framework for a semi-autonomous wheelchair using modular sensor designs

Zeitschrift:: Intelligent Service Robotics > Ausgabe 3/2014

Autoren:: Dmitry Sinyukov, Ross Desmond, Matthew Dickerman, James Fleming, Jerome Schaufeld, Taskin Padir

Abstract

This paper presents the hardware and software control framework for a semi-auton omous wheelchair. The hardware design incorporates modular and reconfigurable sensors and corresponding low-level software architecture. Two control schemes are discussed. Assisted control that augments the user inputs by providing functionalities such as obstacle avoidance and wall following. And, semi-autonomous navigation which takes higher level destination goals and executes a simultaneous localization and mapping algorithm. We also propose an adaptive motion control with a online parameter estimation. The paper presents both experimental and simulation results.

Bitte loggen Sie sich ein, um Zugang zu diesem Inhalt zu erhalten

Jetzt einloggen Kostenlos registrieren

Sie möchten Zugang zu diesem Inhalt erhalten? Dann informieren Sie sich jetzt über unsere Produkte:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

über 69.000 Bücher
über 500 Zeitschriften

aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Umwelt
Finance + Banking
Management + Führung
Marketing + Vertrieb
Maschinenbau + Werkstoffe
Versicherung + Risiko

Testen Sie jetzt 30 Tage kostenlos.

Jetzt informieren

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

über 50.000 Bücher
über 380 Zeitschriften

aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Umwelt
Maschinenbau + Werkstoffe

Testen Sie jetzt 30 Tage kostenlos.

Jetzt informieren

Millan JR, Rupp R, Muller-Putz GR, Murray-Smith R, Giugliemma C, Tangermann M, Vidaurre C, Cincotti F, Kübler A, Leeb R, Neuper C, Müller K-R, Mattia D (2010) Combining brain-computer interfaces and assistive technologies: state-of-the-art and challenges. Front Neurosci 4:161. doi: 10.3389/fnins.2010.00161

Simpson RC (July 2005) Smart wheelchairs: a literature review. J Rehabil Res Dev 42(4):423–438

Kulyukin V, Gharpure C, Nicholson J (2005) Robocart: toward robot-assisted navigation of grocery stores by the visually impaired. In: Intelligent Robots and Systems, (IROS 2005), 2005 IEEE/RSJ International Conference on, pp. 2845–2850

Tsui KM, Feil-Seifer DJ, Mataric MJ, Yanco HA (2009) Performance evaluation methods for assistive robotic technology. In: Madhavan R, Tunstel E, Messina E (eds) Performance evaluation and benchmarking of intelligent systems. Springer, US, pp 41–66 CrossRef

Krebs HI (2003) Rehabilitation robotics: performance-based progressive robot-assisted therapy. Auton Robots 15:720 CrossRef

Tsui KM, Yanco HA, Feil-Seifer DJ, Mataric MJ (2008) Survey of domain-specific performance measures in assistive robotic technology. In: Proceedings of the 8th workshop on performance metrics for intelligent systems, PerMIS’08, ACM, New York, NY, USA, pp. 116–123

Buhler Ch, Hoelper R, Hoyer H, Humann W (1995) Autonomous robot technology for advanced wheelchair and robotic aids for people with disabilities. Rob Auton Syst 14(2–3):213–222 CrossRef

Alqasemi R, Dubey R (2009) Kinematics, control and redundancy resolution of a 9-dof wheelchair-mounted robotic arm system for ADL tasks. In: Mechatronics and its applications, 2009. ISMA 09. 6th International Symposium on, pp. 1–7

Yanco H (1998) Wheelesley: a robotic wheelchair system: indoor navigation and user interface. In: Mittal V, Yanco H, Aronis J, Simpson R (eds) Assistive Technology and Artificial Intelligence, vol 1458, Lecture Notes in Computer Science. Springer, Berlin / Heidelberg, pp 256–268

10.

Parikh SP, Grassi V Jr, Kumar V, Jr JO (2007) Integrating human inputs with autonomous behaviours on an intelligent wheelchair platform. Intell Syst IEEE 22(2):33–41 CrossRef

11.

Perrin X, Chavarriaga R, Colas F, Siegwart R, Millan JR (2010) Brain-coupled interaction for semi-autonomous navigation of an assistive robot. Rob Auton Syst 58(12):1246–1255. Intelligent Robotics and Neuroscience

12.

Iturrate I, Antelis JM, Kubler A, Minguez J (June 2009) A noninvasive brain-actuated wheelchair based on a P300 neurophysiological protocol and automated navigation. Rob IEEE Trans 25(3):614–627

13.

Kossiakoff A, Sweet WN, Seymour SJ, Biemer SM (2003) Systems engineering: principles and practice, 2nd edn. Wiley, London

14.

Palacin J, Valganon I, Pernia R (2006) The optical mouse for indoor mobile robot odometry measurement. Sens Actuators A Phys 126(1):141–147 CrossRef

15.

Nistr D, Naroditsky O, Bergen J (2004) “Visual odometry”, in Computer Vision and Pattern Recognition, 2004. CVPR 2004. In: Proceedings of the 2004 IEEE computer society conference on, vol. 1, p. I652

16.

Quigley M, Gerkey B, Conley K, Faust J, Foote T, Leibs J, Berger E, Wheeler R, Ng A (2009) ROS: an open-source Robot Operating System. In: ICRA workshop on open source software, vol. 3

17.

Nezamfar H, Sinyukov D, Orhan U, Erdogmus D, Padir T (2013) Rain interface to control a tele-operated robot. In: Proceedings of the fifth international brain-computer interface meeting, June 2013

18.

Kohlbrecher S, von Stryk O, Meyer J, Klingauf U (2011) A flexible and scalable SLAM system with full 3D motion estimation. In: 2011 IEEE international symposium on safety, security, and rescue robotics (SSRR), pp 155–160

19.

Dijkstra EW (1959) A note on two problems in connexion with graphs. Numerische mathematik 1(1):269–271 CrossRefMATHMathSciNet

20.

von Hundelshausen F, Himmelsbach M, Hecker F, Mueller A, Wuensche HJ (2008) Driving with tentacles: integral structures for sensing and motion. J Field Rob 25(9):640–673 CrossRef

21.

Astrom KJ, Wittenmark B (1994) Adaptive control. Addison-Wesley Longman Publishing Co., Inc., Boston, MA

22.

Johnson BW, Aylor JH (1985) Dynamic modeling of an electric wheelchair. IEEE Trans Ind Appl IA–21(5):1284–1293 CrossRef

Titel: Multi-modal control framework for a semi-autonomous wheelchair using modular sensor designs
Autoren:: Dmitry Sinyukov
Ross Desmond
Matthew Dickerman
James Fleming
Jerome Schaufeld
Taskin Padir
Publikationsdatum: 01.07.2014
DOI: https://doi.org/10.1007/s11370-014-0149-7
Verlag: Springer Berlin Heidelberg
Zeitschrift: Intelligent Service Robotics
Ausgabe 3/2014
Print ISSN: 1861-2776
Elektronische ISSN: 1861-2784

Springer Professional

Tipp

Weitere Artikel dieser Ausgabe durch Wischen aufrufen

Abstract

Bitte loggen Sie sich ein, um Zugang zu diesem Inhalt zu erhalten

Sie möchten Zugang zu diesem Inhalt erhalten? Dann informieren Sie sich jetzt über unsere Produkte:

Springer Professional "Wirtschaft+Technik"

Springer Professional "Technik"

Weitere Artikel der Ausgabe 3/2014

Towards functional labeling of utility vehicle point clouds for humanoid driving

An auction behavior-based robotic architecture for service robotics

Toward a user-guided manipulation framework for high-DOF robots with limited communication

Artificial landmark-based underwater localization for AUVs using weighted template matching