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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

  • Robotic deburring

    Creator:
    James, Francis
    Abstract:
    Deburring of machined parts is a crucial task in the aerospace and automotive industry. This process is still performed manually to a large extent due to the unpredictability of burr formation as well as the complex interactions between the human arm and the workpiece. Poor ergonomics, repetitive stress and strain...
    Resource Type:
    Masters Thesis
    Full Text:
    Master of Science in Robotics presented on June 13, 2017. Title: Robotic Deburring Abstract approved

  • Robotic Actuation and Control with Programmable, Field-Activated Material Systems

    Creator:
    Bira, Nicholas P.
    Abstract:
    This dissertation presents novel, field-activated smart material systems for the actuation and control of autonomous robots. Smart materials, a type of material whose properties can be changed with an external stimuli, represent a promising direction to expand upon existing robotic control and actuation methods, particularly in the sub-fields of soft...
    Resource Type:
    Dissertation
    Full Text:
    and actuation methods, par- ticularly in the sub-fields of soft robotics and robotic grasping

  • Privacy-Sensitive Robotics

    Creator:
    Rueben, Matthew R.
    Abstract:
    This dissertation focuses on personal privacy in human-robot interaction, which we call "privacy-sensitive robotics." Our understanding of "privacy" is very broad, including not just information privacy but also physical, psychological, and social privacy. We begin by surveying the scholarly literature on privacy and talking about why it applies to interactions...
    Resource Type:
    Dissertation
    Full Text:
    of privacy-sensitive robotics research: 1. We begin by presenting the current state of the art in

  • Topologically-Guided Robotic Information Gathering

    Creator:
    McCammon, Seth
    Abstract:
    Information gathering tasks, such as terrestrial search and rescue, aerial inspection, and marine monitoring, require robotic unmanned systems to make decisions on how to travel within an environment to maximize or minimize a path-dependent information objective function. The distribution of information throughout the environment is the result of various processes,...
    Resource Type:
    Dissertation
    Full Text:
    principles of topology in the context of robotic informa- tion gathering tasks. Many field robotics

  • Deep learning for robotic exploration

    Creator:
    Caley, Jeffrey A.
    Abstract:
    Emerging applications for robotic data collection include ocean monitoring, emergency response and urban search and rescue. At the core of these applications is a robot's ability to make informed decisions on incomplete data. This dissertation addresses this problem by developing novel techniques for modeling and estimating structured environments using deep...
    Resource Type:
    Dissertation
    Full Text:
    degree of Doctor of Philosophy in Robotics presented on June 4, 2019. Title: Deep Learning For Robotic

  • 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

  • Design of a Green Microbial Fuel Cell for Soft Robotics

    Creator:
    Van Volkenburg, Tessa
    Abstract:
    This work introduces the design and fabrication of a green-sourced and mostly biodegradable microbial fuel cell for use in soft robotic applications from environmental sensing to wastewater remediation. Theorized from other biodegradable fuel cells, this prototype achieved maximum power densities of 4.0 x 10−4 W/m2 in the single-chambered design and...
    Resource Type:
    Honors College Thesis
    Full Text:
    degradable elastomer in soft robotics. International Journal of Intelligent Robotics and Applications, 1(2

  • D₊₊ : Structural Credit Assignment in Tightly Coupled Multiagent Domains

    Creator:
    Rahmattalabi, Aida
    Abstract:
    Autonomous multiagent teams can be used in complex exploration tasks to both expedite the exploration and improve the efficiency. However, use of multiagent systems presents additional challenges. Specifically, in domains where the agents' actions are tightly coupled, coordinating multiple agents to achieve cooperative behavior at the group level is difficult....
    Resource Type:
    Masters Thesis
    Full Text:
    , 2016. APPROVED: Major Professor, representing Robotics Head of the School of Mechanical, Industrial