TY - GEN
T1 - Task execution support of a wheelchair mounted robotic arm in activity of daily livings
AU - Wang, Wei
AU - Suga, Yuki
AU - Sugano, Shigeki
PY - 2010/12/1
Y1 - 2010/12/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=79951642889&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=79951642889&partnerID=8YFLogxK
U2 - 10.1109/AIM.2010.5695838
DO - 10.1109/AIM.2010.5695838
M3 - Conference contribution
AN - SCOPUS:79951642889
SN - 9781424480319
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 201
EP - 206
BT - 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010
T2 - 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2010
Y2 - 6 July 2010 through 9 July 2010
ER -