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Filtering by: Has journal The International Journal of Robotics Research Remove constraint Has journal: The International Journal of Robotics Research Degree Field Mechanical Engineering Remove constraint Degree Field: Mechanical Engineering License All rights reserved Remove constraint License: All rights reserved

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  • Utilization of Robot Ankle Torque to Account for Foot Placement Error

    Creator:
    Bernards, Mitchell F.
    Abstract:
    Modern walking robots have shown that dynamic gaits can be achieved without ankle motors. It seems logical that the additional control authority that they provide can be used to improve the stability of the walking gait against foot placement errors caused by low level control. This thesis develops and compares...
    Resource Type:
    Honors College Thesis
    Full Text:
    -free 3D capable spring-mass bipedal robot.” In: The international Journal of Robotics Research 35.2

  • 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

  • Rope Selection for Rope Drive Transmissions Used in Robotic Manipulation

    Creator:
    Summers, Michael P.
    Abstract:
    Wire and fiber ropes used in rigorous CBOS (cyclic bend over sheave) applications were investigated. Small diameter stainless steel, tungsten, and Vectran® ropes were tested over small sheaves at high loads and cycle speeds. Sheaves were made with Al6061-T6511 and Al7075-T651 and were coated with 0.002” hard coat anodize; some...
    Resource Type:
    Honors College Thesis
    Full Text:
    Research was conducted to find the best CBOS ropes to be used in rope drives for robotic manipulation

  • 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

  • Non-Myopic Distributed Coordination and Planning for Robotic Teams

    Creator:
    Smith, Andrew
    Abstract:
    As robotic systems become increasingly prevalent in our lives (e.g., by harvesting food, assisting with disaster response and defense, and transporting persons and our goods around the world) there is a growing need to ensure that they can cooperate to achieve their intended goals. Robotic cooperation in the real-world is...
    Resource Type:
    Dissertation
    Full Text:
    developing novel methods of dis- tributed non-myopic robotic coordination. These methods distribute the

  • Adaptive Multiagent Traffic Management for Autonomous Robotic Systems

    Creator:
    Rebhuhn, Carrie
    Abstract:
    There is growing commercial interest in the use of unmanned aerial vehicles (UAVs) in urban environments, specifically for package delivery applications. However, the size, complexity and sheer numbers of expected UAVs makes conventional air traffic management that relies on human air traffic controllers infeasible. To enable UAVs to safely and...
    Resource Type:
    Dissertation
    Full Text:
    for the degree of Doctor of Philosophy in Robotics and Mechanical Engineering presented on June 22

  • A neuro-evolutionary multiagent approach to multi-linked inverted pendulum control

    Creator:
    Sills, Stephen
    Abstract:
    Recent work has shown humanoid robots with spinal columns, instead of rigid torsos, benefit from both better balance and an increased ability to absorb external impact. Similarly, snake robots have shown promise as a viable option for exploration in confined spaces with limited human access, such as during power plant...
    Resource Type:
    Masters Thesis
    Full Text:
    interest to this work is research regarding the control of robotic spines. Most humanoid robot models

  • Mechanical linkage design for haptic rehabilitation and development of fine motor skills

    Creator:
    Streng, B. Taylor
    Abstract:
    Thousands of children and adults suffer from fine motor skill deficits due to developmental disabilities or brain trauma. In order to acquire or reclaim these precision motor movements, occupational therapists work closely with each patient to develop the muscle memory required for completing tasks such as handwriting or drawing. Although...
    Resource Type:
    Masters Thesis
    Full Text:
    Research for providing the motivation for this project and their patience during the development of each

  • International Engineering Interns in their Own Words: Past Interns Share their Stories and their Wisdom with the Future

    Creator:
    Van Bossuyt, Douglas
    Abstract:
    Students participating in international engineering internships are still relatively rare. It is commonly held that more engineering students would choose to intern abroad if there were role models available, as there are in other disciplines. Profiles of past students, participants, and Alumni serve as role models to perspective students allows...
    Resource Type:
    Honors College Thesis
    Full Text:
    in partial fulfillment of the requirements for the degree of Bachelor of Arts in International