Language based shared control of a mobile-manipulator robotic assistant for quadriplegics

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177236_Kaur_rpi_0185N_10852.pdf (41.14 MB)
Authors
Kaur, Chintan
Issue Date
2016-05
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Electronic thesis
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ENG
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Computer Systems engineering
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Abstract
Human-directed control of a mobile redundant-articulated-manipulator is a challenging task using traditional joystick based approaches. For individuals suffering from quadriplegia, addition of another constraint - inability to move and feel both arms and both legs - makes the task significantly harder. In this research, we propose a language-based shared control strategy to navigate in home environments.
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May 2016
School of Engineering
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Rensselaer Polytechnic Institute, Troy, NY
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https://hdl.handle.net/20.500.13015/1666
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RPI Theses Online (Complete)