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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

  • Expressive Motion in Simple Robotics

    Creator:
    Berger, Jaden E.
    Abstract:
    This thesis follows two studies performed with simple robots. The first follows a robot interacting with eight improvisers to create scenes and perform five isolated gestures (towards, away, sideways, spin, and circle) for interpretation. The second follows a group of three robots performing the same five isolated gestures at two...
    Resource Type:
    Honors College Thesis
    Full Text:
    of wizarded robots especially in exploratory social robotics research. 10 Figure 3.4: The robot

  • 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

  • Comparing Actuation and Underactuation of Robotic Hands

    Creator:
    DuFrene, Kyle
    Abstract:
    This thesis explores the differences in puppetted and teleoperation control of robotic hands, using the Asterisk test as a benchmark. Two hands were tested, including modified versions of the Model Q and Model Q developed by Yale's GRAB Lab. Small differences were observed between the puppetted and teleoperation control of...
    Resource Type:
    Honors College Thesis
    Full Text:
    Rehabilitation”. In: International Journal of Advanced Robotic Systems 10.12 (2013), p. 405. doi: doi.org/10.5772

  • 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

  • Evaluation of total hip arthroplasty research in the US and Europe

    Creator:
    Simmons, Marcy J.
    Abstract:
    Background: Hip replacements are considered routine operations which improve the quality of life in patients by reducing pain and restoring function. There are many variations in prostheses with varying benefits and disadvantages. Methods: Literature from the United States and Europe was collected on total hip replacements between 2001 and the...
    Resource Type:
    Research Paper
    Full Text:
    Simmons 1 Evaluation of Total Hip Arthroplasty Research in the US and Europe by Marcy J

  • Robust controller design for robotic manipulators with saturation

    Creator:
    Liang, Zuyang
    Abstract:
    The development of modern industries calls for the robotic manipulators with high speed and accurate tracking performance. Many authors have paid attention to robust control of robotic manipulators; however, only few authors have also considered the control problem of manipulators with power limitation. In this dissertation, the robotic manipulator is...
    Resource Type:
    Dissertation
    Full Text:
    stabilizing controllers for uncertain systems, especially in robotics. In much of this research, the

  • Optimization of polynomial trajectories for robotic manipulators

    Creator:
    Yildirim, Yuksel
    Abstract:
    In this thesis, a method is presented to construct minimum-time robot trajectories for predefined Cartesian end-effector path in a workspace containing obstacles. The method is preferably applied to a geometric collision-free path of a SCARA robot by using the theories of Bezier, B-spline, and parabolic blending curves. The motion of...
    Resource Type:
    Masters Thesis
    Full Text:
    time than the interpolation curve technique. Optimization of Polynomial Trajectories for Robotic

  • 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