Successful pruning relies on accurately identifying the 3D structure of tree branches and leaders. However, this task is arduous in an agricultural setting due to the complexity of scenes, the presence of clutter, and variable weather conditions. This project addresses these challenges by leveraging advancements in 2D image segmentation and...
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...
This paper presents a method of implementing real-time apple detection for closed-loop control to approach apples for grabbing. The approach is to train two known real-time object detection networks–the Faster R-CNN and YOLOv5–on a novel dataset to verify that it is possible to achieve maximum average precision (mAP) above 50\%...
In-hand manipulations consist of dexterous motions that come easy to humans but still pose a challenge to robotic systems. It is difficult to control finger motions in long complicated sequences due to high DOFs and intricate contact interactions. For such complex motions, in-hand manipulations have generally been broken into a...
Human-safe Cobots are a popular replacement for industrial robots to automate manufacturing processes such like cutting and deburring that all involve accurate contour following across a workpiece surface while maintaining sufficient tool contact. Cobot arms are less expensive and human-safe but they have larger error motion in comparison when only...
Recently there has been a large amount of research into basic human movement as a baseline for robotic motion. Robotic grasping is a challenging problem for a number of reasons. One of which is that it is difficult to accurately know the interaction between the hand and the object, especially...
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...
3D volume segmentation is a fundamental process in many scientific and medical applications. Producing accurate segmentations, in an efficient way, is challenging, in part due to low imaging data quality (e.g., noise and low image resolution), and ambiguity in the data that can only be resolved with higher-level knowledge of...
Gender issues have recently received increased attention in human robot interaction (HRI). Because robots are becoming part of our homes and daily lives, it is important to understand how different groups of people use them. To the best of our knowledge, almost no research has been done that investigates gender...
In this work we propose a curve approximation method that operates in the curvature
domain. The curvature is represented using one of several different types of
basis functions (linear, quadratic, spline, sinusoidal, orthogonal polynomial), and the
curve's geometry is reconstructed from that curvature basis. Our hypothesis is that
different curvature...