Optimization of Wheelchair-Mounted Robotic Arms' Base Placement by Fusing Occupied Grid Map and Inverse Reachability Map

Article Chemistry, Analytical

Object Affordance-Based Implicit Interaction for Wheelchair-Mounted Robotic Arm Using a Laser Pointer

Yaxin Liu et al.

Summary: With the growth of the world's population, limited healthcare resources cannot provide adequate nursing services for all people in need. The wheelchair-mounted robotic arm (WMRA) with interactive technology could help to improve users' self-care ability and relieve nursing stress. The proposed object affordance-based implicit interaction technology using a laser pointer can significantly reduce the user's limb involvement time in operating the WMRA.

SENSORS (2023)

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Article Computer Science, Artificial Intelligence

Development and evaluation of demonstration information recording approach for wheelchair mounted robotic arm

Mingshan Chi et al.

Summary: Researchers are focusing on improving the intelligence and adaptability of wheelchair mounted robotic arm assistive robot through programming by demonstration approach. The key-point-based programming by demonstration recording method simplifies the operation process and has been validated for its efficiency through tasks experiments and comparative evaluations.

COMPLEX & INTELLIGENT SYSTEMS (2022)

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Article Robotics

Robot Learning of Mobile Manipulation With Reachability Behavior Priors

Snehal Jauhri et al.

Summary: Mobile Manipulation (MM) systems are ideal candidates for personal assistants in unstructured real-world environments. This paper studies the integration of robotic reachability priors in reinforcement learning methods for accelerating the learning of MM for reaching and fetching tasks. By using the Hybrid RL method and the Boosted HyRL algorithm, superior performance compared to baseline methods is shown in simulated reaching and fetching tasks.

IEEE ROBOTICS AND AUTOMATION LETTERS (2022)

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Article Automation & Control Systems

UV-C Mobile Robots With Optimized Path Planning Algorithm Design and On-Field Measurements to Improve Surface Disinfection Against SARS-CoV-2

Luca Tiseni et al.

IEEE ROBOTICS & AUTOMATION MAGAZINE (2021)

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Proceedings Paper Automation & Control Systems

Learning Reachable Manifold and Inverse Mapping for a Redundant Robot manipulator

Seungsu Kim et al.

Summary: This study introduces a unified framework that learns a kinematic feasibility model and a one-shot inverse mapping model for a redundant robot manipulator. Once trained, these models can compute the kinematic reachability of a target pose and its inverse solutions without an iterative process.

2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2021) (2021)

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Proceedings Paper Automation & Control Systems

Monocular Teach-and-Repeat Navigation using a Deep Steering Network with Scale Estimation

Cheng Zhao et al.

Summary: This paper introduces a novel monocular teach-and-repeat navigation system with scale awareness, which decomposes the navigation task into visual servoing sub-tasks and uses a deep steering network and Scale-Transformer for navigation primitives inference and absolute scale estimation, achieving fast and accurate navigation results.

2021 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) (2021)

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Article Chemistry, Analytical