Browsing by Subject "Robotics"
Now showing items 21-35 of 35
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(2019-10-18)Decision making under uncertainty is an important problem in engineering that is traditionally approached differently in each of the Stochastic optimal control, Reinforcement learning and Motion planning disciplines. One ...
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(Texas A&M University. Libraries, 1988)The adaptive ability of robotic assembly systems is often limited by hardware deficiencies. In order to effectively use the available robotic assembly systems, products need to be designed to accommodate current equipment ...
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(2015-09-03)Common navigation algorithms like A* or D* Lite rely on costs to determine an optimal path. Costs may incorporate distance, time, or energy consumption; however, they can include anything that affects travel along a path. ...
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(2014-12-16)This thesis presents an application of hybrid zero dynamics to realize underactuated bipedal walking on DURUS, a testbed designed and built by SRI International. The main contribution of this work is the ideal model resolved ...
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(2013-11-13)This thesis presents an approach to the formal design, optimization and implementation of bipedal robotic walking controllers, with experimental application on two biped platforms. Standard rigid-body modeling is used to ...
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(Texas A&M University. Libraries, 1987)Planning the path of a manipulator through an obstacle strewn workspace is a problem that must be solved if completely autonomous robotic manipulators are to safely operate. Many solutions to the problem have been posed ...
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(2020-12-02)This thesis provides several improvements to producing a uniform surface finish on free-form surfaces in a robotic sanding procedure. The three improvements which this thesis discusses involve surface reconstruction of ...
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(2016-08-08)Motion planning for constrained systems is a version of the motion planning problem in which the motion of a robot is limited by constraints. For example, one can require that a humanoid robot such as a PR2 remain upright ...
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(2014-04-29)Motion planning is defined as the problem of finding a valid path taking a robot (or any movable object) from a given start configuration to a goal configuration in an environment. While motion planning has its roots in ...
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(2021-06-28)Localization, identification, and quantification of radioactive sources in an unknown environment with conventional methods based on a technician carrying a handheld radiation detector, such as the Geiger Muller detector, ...
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TOGGLE PRM: A SIMULTANEOUS MAPPING OF CFREE AND COBSTACLE FOR USE IN PROBABILISTIC ROADMAP METHODS (2011-04-14)Motion planning for robotic applications is difficult. This is a widely studied problem in which the best known deterministic solution is doubly exponential in the dimensionality of the problem. A class of probabilistic ...
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(2017-05-10)This thesis studies the problem of recursive distributed state estimation over unreliable networks. The main contribution is to fuse the independent and dependent information separately. Local estimators communicate directly ...
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(2022-02-08)Even if they are not aware of it, healthy humans walk stably and comfortably. Amputee patients, on the other hand, have difficulty performing stable and comfortable walking due to their missing limbs. Powered prostheses ...
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This research project aims to provide a self-feeding manipulator system to accommodate those who have upper-body motor disabilities. The purpose of the device is to allow patients to rely less on their caregivers during a ...
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(Texas A&M University. Libraries, 1988)A Dragon voice recognition system was interfaced with a Tandy robot and tested in a laboratory environment. Problems associated with noise, hardware interface, and speaker inconsistencies were observed. A speech enhancement ...