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Filtering by: Creator Ferla, Matteo P. Committee Member Balasubramanian, Ravi

Contour Following by Human-Safe Cobots using Real-Time Vision and Force Feedback with Workpiece Location Uncertainty

Creator:

Nishat, Nuha

Abstract:

Human-safe Cobots are a popular replacement for industrial robots to automate manufacturing processes such like cutting and deburring that all involve accurate contour following across a workpiece surface while maintaining sufficient tool contact. Cobot arms are less expensive and human-safe but they have larger error motion in comparison when only...

Resource Type:

Masters Thesis

Full Text:

pose of the object is P = (x, y, z, θ, ϕ, ψ). It is assumed that table top is perfectly flat in order
Improving Soft Snake Robot Locomotion Through Targeted Environmental Interactions Using Artificial Snake Skin

Creator:

Branyan, Callie A.

Abstract:

This dissertation outlines the design and development of the first fully-soft, snake robot and its snake-inspired skin. Soft robotics takes advantage of soft materials to, among other things, improve robot interactions with complex, unstructured environments. Due to the interplay between the soft material and the environment, minor tweaks to the...

Resource Type:

Dissertation