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  • Robotic deburring

    Creator:
    James, Francis
    Abstract:
    Deburring of machined parts is a crucial task in the aerospace and automotive industry. This process is still performed manually to a large extent due to the unpredictability of burr formation as well as the complex interactions between the human arm and the workpiece. Poor ergonomics, repetitive stress and strain...
    Resource Type:
    Masters Thesis
    Full Text:
    Master of Science in Robotics presented on June 13, 2017. Title: Robotic Deburring Abstract approved

  • Robotic Actuation and Control with Programmable, Field-Activated Material Systems

    Creator:
    Bira, Nicholas P.
    Abstract:
    This dissertation presents novel, field-activated smart material systems for the actuation and control of autonomous robots. Smart materials, a type of material whose properties can be changed with an external stimuli, represent a promising direction to expand upon existing robotic control and actuation methods, particularly in the sub-fields of soft...
    Resource Type:
    Dissertation
    Full Text:
    and actuation methods, par- ticularly in the sub-fields of soft robotics and robotic grasping

  • Privacy-Sensitive Robotics

    Creator:
    Rueben, Matthew R.
    Abstract:
    This dissertation focuses on personal privacy in human-robot interaction, which we call "privacy-sensitive robotics." Our understanding of "privacy" is very broad, including not just information privacy but also physical, psychological, and social privacy. We begin by surveying the scholarly literature on privacy and talking about why it applies to interactions...
    Resource Type:
    Dissertation
    Full Text:
    of privacy-sensitive robotics research: 1. We begin by presenting the current state of the art in

  • Multiagent learning for locomotion and coordination in tensegrity robotics

    Creator:
    Iscen, Atil
    Abstract:
    Tensegrity structures are composed of pure compressional elements that are connected via a network of pure tensional elements. The concept of tensegrity promises numerous advantages to the field of robotics. Tensegrity robots are, however, notoriously difficult to control due to their oscillatory nature and nonlinear interaction between the components. Multiagent...
    Resource Type:
    Dissertation
    Full Text:
    played a big role in my research by introducing me to the topic of tensegrity robotics and the SUPERBall

  • Condensing observation of locale and agents : a state representation

    Creator:
    Valenti, Brett A
    Abstract:
    Computing agents require state information to make coherent and useful decisions. A state representation is a numerical translation of the environment and conditions that are pertinent factors in an agent's decision making. Although many representations, when paired with clever learning algorithms, are able to coordinate and capture prey in specific...
    Resource Type:
    Masters Thesis
    Full Text:
    coordination. In the case of robotic exploration, a team of robots may intelligently gather data in regions

  • D₊₊ : Structural Credit Assignment in Tightly Coupled Multiagent Domains

    Creator:
    Rahmattalabi, Aida
    Abstract:
    Autonomous multiagent teams can be used in complex exploration tasks to both expedite the exploration and improve the efficiency. However, use of multiagent systems presents additional challenges. Specifically, in domains where the agents' actions are tightly coupled, coordinating multiple agents to achieve cooperative behavior at the group level is difficult....
    Resource Type:
    Masters Thesis
    Full Text:
    , 2016. APPROVED: Major Professor, representing Robotics Head of the School of Mechanical, Industrial

  • Robotic Machining Fundamentals for Casting Defect Removal

    Creator:
    Biederman, Moriah
    Abstract:
    In the past half century, industrial robots have developed a strong presence in manufacturing. They now commonly perform tasks such as materials handling, assembly, welding, and painting. Unfortunately robotic machining tasks have seen limited deployments. The majority of machining robots are designed for soft materials like wood or plastic and...
    Resource Type:
    Masters Thesis
    Full Text:
    of Master of Science in Robotics presented on September 13, 2016. Title: Robotic Machining

  • Functional Materials and Techniques for Additive Manufacturing in Soft Robotics

    Creator:
    Walker, Stephanie
    Abstract:
    This thesis outlines the development of new elastomeric materials and manufacturing processes for soft robotics. Specifically, this work describes the development of custom material formulations for use in additive manufacturing, additive manufacturing processing techniques for silicone elastomers, and multi-component additive manufacturing techniques. Material synthesis and processing is a gap in...
    Resource Type:
    Dissertation
    Full Text:
    , there are many development steps needed in between the current state of soft robotics research and

  • Advancing Robotic Grasp Planning using Human Heuristics for Grasp Similarity

    Creator:
    Dixit, Saurabh Milind
    Abstract:
    This thesis explores the use of human kinesthetic input to advance robotic grasp planning. It specifically focuses on identification of human heuristics of grasp similarity by extensive human-subject experiments. This heuristic is then utilized to develop a robust metric for identifying similar robotic grasps. The central hypothesis of this work...
    Resource Type:
    Masters Thesis
    Full Text:
    despite com- mendable research effort showcases the complexity of grasping and manipulation in robotics

  • Improving robotic grasping performance using machine learning techniques

    Creator:
    Goins, Alex Keith
    Abstract:
    Robots are being utilized in ever more complex tasks and environments to help humans with difficult or dangerous tasks. However, robotic grasping is still in its infancy and is one of the limiting factors which prevent the deployment of robots in the home and other assisted living scenarios. Traditional methods...
    Resource Type:
    Masters Thesis
    Full Text:
    real-time robotics. One limitation of this research is the lack of including the dynamics of the