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Filtering by: Creator Garcia, Jonathan Remove constraint Creator: Garcia, Jonathan Degree Field Robotics Remove constraint Degree Field: Robotics

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  • Coordination for Scalable Multiple Robot Planning Under Temporal Uncertainty

    Creator:
    Marcon dos Santos, Gilberto
    Abstract:
    This dissertation incorporates coalition formation and probabilistic planning towards a domain-independent automated planning solution scalable to multiple heterogeneous robots in complex domains. The first research direction investigates the effectiveness of Task Fusion and introduces heuristics that improve task allocation and result in better quality plans, while requiring lower computational cost...
    Resource Type:
    Dissertation

  • Dynamics and control for spring-mass legged robots

    Creator:
    Vejdani Noghreiyan, Hamid Reza
    Abstract:
    The objective of this study is to propose control strategies for legged robots to walk and run naturally like humans and animals. To achieve this goal, we use the spring-mass model for the legged robots to be able to create the same dynamics in the leg as humans and animals....
    Resource Type:
    Dissertation
    Full Text:
    Control for Spring-Mass Legged Robots Abstract approved: Jonathan W. Hurst The objective of this

  • From running birds to walking robots : optimization as a unifying framework for dynamic bipedal locomotion

    Creator:
    Hubicki, Christian M.
    Abstract:
    Bipedal locomotion is a complex phenomenon to understand and control, making it difficult for legged robots to achieve the speed, agility, efficiency, and robustness of their animal counterparts. This thesis argues for the use of numerical optimization to investigate and implement bipedal control as it applies to biology, dynamical models,...
    Resource Type:
    Dissertation
    Full Text:
    Dynamic Bipedal Locomotion Abstract approved: Jonathan W. Hurst Bipedal locomotion is a complex

  • Fully Soft 3D Printed Electroactive Fluidic Valve in Soft Hydraulic Robots

    Creator:
    Zatopa, Alexander
    Abstract:
    Soft robots are designed to utilize their compliance and contortionistic abilities to both interact safely with their environment and move through it in ways a rigid robot cannot. To more completely achieve this, the robot should be made of as many soft components as possible. Here we present a completely...
    Resource Type:
    Masters Thesis
    Full Text:
    support during my study. Second, I would like to thank Dr. Jonathan Hurst, Dr. Cindy Grimm and Dr. Fuxin

  • High-Dimensional Reinforcement Learning with Human Feedback

    Creator:
    Curran, William
    Abstract:
    State-of-the-art personal robots need to perform complex manipulation tasks to be viable in complex scenarios. However, many of these robots, like the PR2, use manipulators with high degrees of freedom. High degrees of freedom are desirable from a functionality standpoint, but make the learning task more difficult by adding a...
    Resource Type:
    Dissertation

  • Learning-based Techniques for Fast and Robust Motion Planning

    Creator:
    Chow, Scott
    Abstract:
    Motion planning is a cornerstone of autonomous robots, enabling robots to safely and efficiently perform tasks such as package delivery, infrastructure inspection, and manipulation. However, as the field of robotics matures, robotic systems are being developed that (1) are challenging to analytically model, (2) require computationally expensive model-based controllers, and...
    Resource Type:
    Dissertation

  • Making the Unconscious Unconscious : Reclaiming Microinteractions for People with Motor Disabilities

    Creator:
    Lazewatsky, Daniel A.
    Abstract:
    Numerous diseases and injuries can limit a person's ability to perform everyday tasks -- things like getting dressed, bathing, and eating. Anything that requires physical activity can be affected; even simple things like turning on the lights can become difficult or impossible. Until recently, the only way for a person...
    Resource Type:
    Dissertation

  • 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:
    April 11, 2018. Title: Mechanical Design for Robot Locomotion. Abstract approved: Jonathan W. Hurst

  • 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

  • Robust Long Term Autonomy Through Local Behaviors

    Creator:
    Yates, Connor L.
    Abstract:
    Multi-robot teams offer promising solutions for many long term deployments in remote and dangerous domains, such as extraterrestrial or underseas exploration. However, long term deployments present many problems preventing robot teams from operating effectively. Learning over long time scales is makes it difficult to assign credit to robots' actions, as...
    Resource Type:
    Dissertation