The act of assisted feeding is a challenging task that requires a good reactive planning strategy to cope with an unpredictable environment. It can be seen as a tracking task, where some end effector must travel to a moving goal. This work builds upon state of the art algorithms, such as Discriminative Optimization, making use of a Kinect camera and a modular robotic arm to implement a closed form system that performs assisted feeding. It presents two different approaches: the use of a variable rate function for updating the trajectory with information on the moving goal, and the definition of different risk regions that will shape a safer trajectory.
CITATION STYLE
Silva, C., Vongkulbhisal, J., Marques, M., Costeira, J. P., & Veloso, M. (2017). Feedbot - A robotic arm for autonomous assisted feeding. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 10423 LNAI, pp. 486–497). Springer Verlag. https://doi.org/10.1007/978-3-319-65340-2_40
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