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Filtering by: Degree Field Robotics Remove constraint Degree Field: Robotics Committee Member Balasubramanian, Ravi Remove constraint Committee Member: Balasubramanian, Ravi

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  • A Structured Approach for In-Hand Manipulation

    Creator:
    Asar, Anjali Harish
    Abstract:
    In-hand manipulations consist of dexterous motions that come easy to humans but still pose a challenge to robotic systems. It is difficult to control finger motions in long complicated sequences due to high DOFs and intricate contact interactions. For such complex motions, in-hand manipulations have generally been broken into a...
    Resource Type:
    Masters Thesis
    Full Text:
    motions that come easy to humans but still pose a challenge to robotic systems. It is difficult to

  • 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:
    robotic servoing in the task frame formalism. The International Journal of Robotics Research, 22:941–954

  • Robot vs. Stick: The Impact of Anthropomorphism on the Use of Hand Sanitizer

    Creator:
    Bana, Parthasarathy R.
    Abstract:
    Anthropomorphism is described as the human tendency to see human-like shapes in the environment and robots have the potential to be anthropomorphized. However, it is unclear if anthropomorphic robots are effective in human-robot interactions (HRI). Using the context of hand sanitizer service as an application, this work assessed whether a...
    Resource Type:
    Capstone Project
    Full Text:
    robotic service at restaurants. International Jour- nal of Hospitality Management 94 (2021), 102823. [15

  • 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

  • Near-contact Grasping Strategies: Improve Robotic Grasping from Awkward Poses with Deliberate Finger Motion

    Creator:
    Ong, Yi Herng
    Abstract:
    As robots are becoming more relevant to our lives, they are still having hard time accomplishing simple tasks such as picking and lifting. Problems that include environmental constraints, pose uncertainties and hardware noises restrain robots for grasping an object successfully from a perceivable environment. Many have looked into finding best...
    Resource Type:
    Masters Thesis
    Full Text:
    Robotic Grasping from Awkward Poses with Deliberate Finger Motion Abstract approved: Cindy Grimm As

  • Ballistic rebounds for wrapping a target with a casting manipulator

    Creator:
    Hill, Lucas P.
    Abstract:
    Casting manipulation in robotics is the act of launching a tethered projectile and using it to interact with the environment. One such interaction is wrapping a target. In this work, we identify throwing and tether control parameters for successfully wrapping a target with an end-weighted cable, evolving through a set...
    Resource Type:
    Masters Thesis
    Full Text:
    robotic arm. While similar to our work, their approach in- volved extreme instrumentation, placing dozens

  • Improving Understanding of Geometric Swimmer Locomotion

    Creator:
    Remaley, Jacquelin L.
    Abstract:
    This work seeks to improve the knowledge surrounding geometric snake swimmers through both theoretical and practical means. To begin, manufacturing techniques for a silicon-based pneumatic actuator were validated through experimentation. When inflated, the actuators exhibited an unanticipated elongation. In an attempt to confirm theoretical displacement predictions, a more accurate dynamic...
    Resource Type:
    Masters Thesis
    Full Text:
    efficient methods to intuitively predict the dynamic behavior of robotic systems. Many of these systems

  • Mechanical Design for Robot Locomotion

    Creator:
    Abate, Andrew M.
    Abstract:
    Robotic limbs have been shown to enable mobility in unstructured, real-world terrain; they allow robots to step around cluttered environments, scramble up hills, carry heavy loads, and even perform acrobatics. However, mechanical limbs cannot operate as a means for such dynamic locomotion if they are simply treated as general articulated...
    Resource Type:
    Dissertation
    Full Text:
    Ross L. Hatton Robotic limbs have been shown to enable mobility in unstructured, real-world terrain

  • 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

  • Template-based control of the bipedal robot ATRIAS

    Creator:
    Peekema, Andrew T.
    Abstract:
    This thesis details the derivation and application of template-based controls on a bipedal robot, as well as a description of the software framework that enabled experimentation. The software framework uses a combination of open-source tools including ROS, OROCOS, EtherCAT, and Xenomai to create a real-time environment for the controllers. The...
    Resource Type:
    Masters Thesis
    Full Text:
    between the robot and GUI computer. A number of robotic software frameworks exist, and sev­ eral of