Visual Servoing Control of a 9-DoF WMRA to Perform ADL Tasks

Document Type

Conference Proceeding

Publication Date



wheelchairs, dexterous manipulators, feature extraction, living systems, mobile robots, optimisation, robot vision, trajectory control, visual servoing

Digital Object Identifier (DOI)



The wheelchair-mounted robotic arm (WMRA) is a mobile manipulator that consists of a 7-DoF robotic arm and a 2-DoF power wheelchair platform. Previous works combined mobility and manipulation control using weighted optimization for dual-trajectory tracking [7]. In this work, we present an image-based visual servoing (IBVS) approach with scale-invariant feature transform (SIFT) using an eye-in-hand monocular camera for combined control of mobility and manipulation for the 9-DoF WMRA system to execute activities of daily living (ADL) autonomously. We also present results of the physical implementation with a simple “Go to and Pick Up” task and the “Go to and Open the Door” task previously published in simulation, using IBVS to aid the task performance.

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Citation / Publisher Attribution

2012 IEEE International Conference on Robotics and Automation, Saint Paul, MN, 2012, p. 916-922.