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Filtering by: Degree Field Robotics Subject Robots -- Control systems

Multi-Robot Coordination : Applications in Orchard Bin Management and Informative Path Planning

Creator:

Zhang, Yawei

Abstract:

Efficient coordination is desired for multi-robot systems in many scenarios. In this research, we first provide a multi-robot system to help human workers during tree fruit harvest. We present an auction-based method to coordinate a team of self-propelled bin carriers to retrieve fruit bins. Second, we propose a more general...

Resource Type:

Masters Thesis

Full Text:

bin management system that coordinates a team of robotic self-propelled fruit bin carriers to
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
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