Search Constraints

Start Over
Filtering by: Degree Field Robotics Remove constraint Degree Field: Robotics Academic Affiliation Mechanical, Industrial, and Manufacturing Engineering Remove constraint Academic Affiliation: Mechanical, Industrial, and Manufacturing Engineering

Search Results

  • Learning from optimization for bipedal robots

    Creator:
    Yu, Fangzhou
    Abstract:
    Legged robots have consistently captured our collective imagination through various forms of media, from Hollywood films, anime, and viral Youtube videos of robots accomplishing incredible feats of acrobatics. These robots have the potential to navigate our environments, capable of completing tasks that would otherwise require human intervention. However, developing controls...
    Resource Type:
    Masters Thesis
    Full Text:
    generating offline motion plans over long time horizons. For fixed-base robotic manipulators, this could

  • Toward Machine Learning-Enabled Adaptivity for Humorous Robots

    Creator:
    Gray, Carson C.
    Abstract:
    Social robots benefit from a sense of humor, which requires the ability to recognize and adapt to human responses during playful interactions. Past work on humorous robots has classified audience responses with audio-based and preliminary visual-based methods following the joke punchline. Building on this progress, we conducted a survey of...
    Resource Type:
    Masters Thesis
    Full Text:
    survey of 20 human comedians to inform the design of robotic comedians. Using the comedians’ insights

  • Human Performance with Multiple UAV Systems: Use Cases and Modeling

    Creator:
    Uriarte, Patrick A.
    Abstract:
    Commercial and public safety usage of Unmanned Aerial Vehicles in the National Airspace is currently restricted by federal regulation. The Federal Aeronautics Association is interested in modifying the restrictions; however, research is needed to study the human factor and required aptitude for a single human operating multiple UAVs. This Master’s...
    Resource Type:
    Capstone Project

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

  • Agile Bipedal Locomotion via Hierarchical Control by Incorporating Physical Principles, Learning, and Optimization

    Creator:
    Green, Kevin
    Abstract:
    Robotic Bipedal locomotion holds the potential for efficient, robust traversal of difficult terrain. The difficulty lies in the dynamics of locomotion which complicate control and motion planning. Bipedal locomotion dynamics are dimensionally large problems, extremely nonlinear, and operate on the limits of actuator capabilities, which limit the performance of generic...
    Resource Type:
    Dissertation
    Full Text:
    Optimization Abstract approved: Jonathan Hurst Ross L. Hatton Robotic Bipedal locomotion holds the potential

  • Agile Bipedal Maneuvers Optimized then Learned from Single Rigid-Body Model Dynamics

    Creator:
    Batke, Ryan
    Abstract:
    As bipedal robots move ever closer to being integrated into all manner of real world envi-ronments there is a necessity to push their dynamic capabilities to meet or exceed those of humans and animals. Advancements must be made to address ordinary challenges that arise everyday in the same environments that...
    Resource Type:
    Masters Thesis
    Full Text:
    been used in some robotic control tasks [16, 20], but generally struggle to translate to higher

  • Practical Reinforcement Learning for Bipedal Locomotion

    Creator:
    Dao, Jeremy
    Abstract:
    Reinforcement learning has emerged as a popular tool for solving control tasks, with multiple works focusing on the complex and dynamic task of locomotion. However, the naive application of reinforcement learning to this problem often produces maladaptive policies that exploit the model or reward function. This results in behavior that...
    Resource Type:
    Capstone Project

  • Designing and Evaluating a User Interface for Multi-Robot Furniture

    Creator:
    Stoddard, Brett
    Abstract:
    A chair, once placed, will stay put until moved. Or will it? With the rise of technology being embeddable into everyday objects, what if that chair could move itself? Such robotic furniture has been featured in advertisements, art, and Human-Robot Interaction (HRI) research. Existing methods for operating robotic furniture have...
    Resource Type:
    Masters Thesis
    Full Text:
    ? Such robotic furniture has been featured in advertisements, art, and Human- Robot Interaction (HRI

  • Geometric Optimization Methods for Mobile Systems

    Creator:
    Bass, Capprin J.
    Abstract:
    When studying robot systems, it is common to ask about optimal approaches to accomplish a given task. In the context of mobile systems, particularly biomimetic systems, optimization tasks are closely related to the relevant dynamics of locomotion. In this thesis, building on prior work from the geometric mechanics community, we...
    Resource Type:
    Masters Thesis
    Full Text:
    Abstract A key problem in robotic locomotion is in finding optimal shape changes to effectively displace

  • Efficiently Learning Human Preferences for Robot Autonomy

    Creator:
    Somers, Thane N.
    Abstract:
    Human-robot teams are invaluable for mapping unknown environments, exploring difficult-to-reach areas, and manipulating inaccessible equipment. However, guiding autonomous robots requires dealing with these dynamic domains while synthesizing a significant amount of data and balancing competing objectives. Current mission planning methods often involve manually specifying low-level parameters of the mission, such...
    Resource Type:
    Masters Thesis
    Full Text:
    human preferences for robotic mission planning. This research is motivated by the challenges robots