Open Access. Powered by Scholars. Published by Universities.®

Robotics Commons

Open Access. Powered by Scholars. Published by Universities.®

1891 Full-Text Articles 2105 Authors 541259 Downloads 62 Institutions

All Articles in Robotics

Faceted Search

1891 full-text articles. Page 1 of 44.

Perception Of 3d Symmetrical And Near-Symmetrical Shapes, Vijai Jayadevan, Aaron Michaux, Edward Delp, Zygmunt Pizlo 2017 Purdue University

Perception Of 3d Symmetrical And Near-Symmetrical Shapes, Vijai Jayadevan, Aaron Michaux, Edward Delp, Zygmunt Pizlo

MODVIS Workshop

No abstract provided.


Orthoplanar Spring Based Compliant Force/Torque Sensor For Robot Force Control, Jerry West 2017 University of South Florida

Orthoplanar Spring Based Compliant Force/Torque Sensor For Robot Force Control, Jerry West

Graduate Theses and Dissertations

A compliant force/torque sensor for robot force control has been developed. This thesis presents methods of designing, testing, and implementing the sensor on a robotic system. The sensor uses an orthoplanar spring equipped with Hall-effect sensors to measure one component of force and two moment components. Its unique design allows for simple and cost effective manufacturing, high reliability, and compactness. The device may be used in applications where a robot must control contact forces with its environment, such as in surface cleaning tasks, manipulating doors, and removing threaded fasteners. The compliant design of the sensor improves force control performance ...


Regulating Robo Advice Across The Financial Services Industry, Tom Baker, Benedict G. C. Dellaert 2017 University of Pennsylvania Law School

Regulating Robo Advice Across The Financial Services Industry, Tom Baker, Benedict G. C. Dellaert

Faculty Scholarship

Automated financial product advisors – “robo advisors” – are emerging across the financial services industry, helping consumers choose investments, banking products, and insurance policies. Robo advisors have the potential to lower the cost and increase the quality and transparency of financial advice for consumers. But they also pose significant new challenges for regulators who are accustomed to assessing human intermediaries. A well-designed robo advisor will be honest and competent, and it will recommend only suitable products. Because humans design and implement robo advisors, however, honesty, competence, and suitability cannot simply be assumed. Moreover, robo advisors pose new scale risks that are different ...


Autonomous Uav Navigation In An Indoor Environment For Warehouse Inventory Recording, Venkat Ramana Reddy Garlapati 2017 University of Nebraska at Omaha

Autonomous Uav Navigation In An Indoor Environment For Warehouse Inventory Recording, Venkat Ramana Reddy Garlapati

Student Research and Creative Activity Fair

UAV’s are currently used extensively in outdoor environments for various applications, including wildfire monitoring, and agricultural surveying, their use in indoor applications have been fairly restricted, owing mainly to the difficulty to maneuver them in smaller indoor spaces and the inability to use GPS-based navigation system. Nevertheless, there are many indoor applications where UAVs could provide a safe, reliable and resilient means to perform operations that are dangerous for humans such as surveillance inside chemical plants, inventory scanning in cold storages etc., Autonomous UAV navigation in an indoor environment can be achieved by finding a collision-free flight path to ...


Session D-3: Robotics Programming Using Java, Pat Patankar 2017 Illinois Mathematics and Science Academy

Session D-3: Robotics Programming Using Java, Pat Patankar

Professional Learning Day

I will discuss how to program NXT kit with various sensors using Java programming language.


Using Supervised Learning To Compensate For High Latency In Planetary Exploration, Andrew Jones, Jeremy Straub 2017 North Dakota State University--Fargo

Using Supervised Learning To Compensate For High Latency In Planetary Exploration, Andrew Jones, Jeremy Straub

Jeremy Straub

Planetary exploration utilizes orbital, aerial, surface and potentially sub-surface vehicles at remote locations. At present, many of these vehicles must be teleoperated or commanded from Earth, requiring data to be transmitted over significant distances (taking several minutes or longer). This problem gets progressively more pronounced as vehicles are operated further and further from the Earth. While missions to send humans to deep space and increased autonomy both prospectively present partial solutions to this challenge, human controllers may wish to operate the vehicle with an experience more akin to in-situ exploration.

Typically, using remotely operated vehicles for exploring planets entails dealing ...


Regulating By Robot: Administrative Decision Making In The Machine-Learning Era, Cary Coglianese, David Lehr 2017 University of Pennsylvania Law School

Regulating By Robot: Administrative Decision Making In The Machine-Learning Era, Cary Coglianese, David Lehr

Faculty Scholarship

Machine-learning algorithms are transforming large segments of the economy, underlying everything from product marketing by online retailers to personalized search engines, and from advanced medical imaging to the software in self-driving cars. As machine learning’s use has expanded across all facets of society, anxiety has emerged about the intrusion of algorithmic machines into facets of life previously dependent on human judgment. Alarm bells sounding over the diffusion of artificial intelligence throughout the private sector only portend greater anxiety about digital robots replacing humans in the governmental sphere. A few administrative agencies have already begun to adopt this technology, while ...


Impact Force Reduction Using Variable Stiffness With An Optimal Approach For Jumping Robots, Juan Manuel Calderon Chavez 2017 University of South Florida

Impact Force Reduction Using Variable Stiffness With An Optimal Approach For Jumping Robots, Juan Manuel Calderon Chavez

Graduate Theses and Dissertations

Running, jumping and walking are physical activities that are performed by humans in a simple and efficient way. However, these types of movements are difficult to perform by humanoid robots. Humans perform these activities without difficulty thanks to their ability to absorb the ground impact force. The absorption of the impact force is based on the human ability to vary muscles stiffness.

The principal objective of this dissertation is to study vertical jumps in order to reduce the impact force in the landing phase of the jump motion of humanoid robots. Additionally, the impact force reduction is applied to an ...


Bim Assisted Design Process Automation For Pre-Engineered Buildings (Peb), Mohammad Delavar 2017 The University of Western Ontario

Bim Assisted Design Process Automation For Pre-Engineered Buildings (Peb), Mohammad Delavar

Electronic Thesis and Dissertation Repository

The effective adoption and implementation of Building Information Modeling (BIM) is still challenging for the construction industry. However, studies and reports show a significant increase in the rate of BIM implementation and adoption in mainstream construction activities over the last five years. In contrast, Pre-Engineered Building (PEB) construction, a specialized construction system which provides a very efficient approach for construction of primarily industrial buildings, has not seen the same uptake in BIM implementation and adoption. The thesis reviews the benefits and the main applications of BIM for the PEB industry as well as challenges of its practical implementation. To facilitate ...


Discriminative Measures For Comparison Of Phylogenetic Trees, Omur Arslan, Dan P. Guralnik, Daniel E. Koditschek 2017 University of Pennsylvania

Discriminative Measures For Comparison Of Phylogenetic Trees, Omur Arslan, Dan P. Guralnik, Daniel E. Koditschek

Departmental Papers (ESE)

In this paper we introduce and study three new measures for efficient discriminative comparison of phylogenetic trees. The NNI navigation dissimilarity $d_{nav}$ counts the steps along a “combing” of the Nearest Neighbor Interchange (NNI) graph of binary hierarchies, providing an efficient approximation to the (NP-hard) NNI distance in terms of “edit length”. At the same time, a closed form formula for $d_{nav}$ presents it as a weighted count of pairwise incompatibilities between clusters, lending it the character of an edge dissimilarity measure as well. A relaxation of this formula to a simple count yields another measure on all ...


Superhero Robotics, Frank Sup, Brian Umberger, Nick Sawyer 2017 University of Massachusetts Amherst

Superhero Robotics, Frank Sup, Brian Umberger, Nick Sawyer

Science and Engineering Saturday Seminars

No abstract provided.


Study Of Mobile Robot Operations Related To Lunar Exploration, Matthew Cross 2016 The University of Western Ontario

Study Of Mobile Robot Operations Related To Lunar Exploration, Matthew Cross

Electronic Thesis and Dissertation Repository

Mobile robots extend the reach of exploration in environments unsuitable, or unreachable, by humans. Far-reaching environments, such as the south lunar pole, exhibit lighting conditions that are challenging for optical imagery required for mobile robot navigation. Terrain conditions also impact the operation of mobile robots; distinguishing terrain types prior to physical contact can improve hazard avoidance.

This thesis presents the conclusions of a trade-off that uses the results from two studies related to operating mobile robots at the lunar south pole. The lunar south pole presents engineering design challenges for both tele-operation and lidar-based autonomous navigation in the context of ...


Design Of A Flexible Control Platform And Miniature In Vivo Robots For Laparo-Endoscopic Single-Site Surgeries, Lou P. Cubrich 2016 University of Nebraska-Lincoln

Design Of A Flexible Control Platform And Miniature In Vivo Robots For Laparo-Endoscopic Single-Site Surgeries, Lou P. Cubrich

Mechanical (and Materials) Engineering -- Dissertations, Theses, and Student Research

Minimally-invasive laparoscopic procedures have proven efficacy for a wide range of surgical procedures as well as benefits such as reducing scarring, infection, recovery time, and post-operative pain. While the procedures have many advantages, there are significant shortcomings such as limited instrument motion and reduced dexterity. In recent years, robotic surgical technology has overcome some of these limitations and has become an effective tool for many types of surgeries. These robotic platforms typically have an increased workspace, greater dexterity, improved ergonomics, and finer control than traditional laparoscopic methods. This thesis presents the designs of both a four degree-of-freedom (DOF) and 5-DOF ...


Robostock: Autonomous Inventory Tracking, Drew Christian Balthazor 2016 California Polytechnic State University, San Luis Obispo

Robostock: Autonomous Inventory Tracking, Drew Christian Balthazor

Computer Engineering

No abstract provided.


Electronic Deer Warning System, David Zhuo, Anlang Lu 2016 California Polytechnic State University, San Luis Obispo

Electronic Deer Warning System, David Zhuo, Anlang Lu

Computer Engineering

Deer-vehicle collisions (DVCs) are extremely dangerous, often injuring or even killing drivers. Unfortunately, this form of automotive accident is commonplace in the United States. According to the NHTSA, DVCs result in 200 human deaths a year.2

Despite these deadly incidents, there currently are no deployed federal or state systems for preventing DVCs. There are many consumer electronic deer deterrent products, but their long-term effectiveness is questionable.3 In fact, there does not appear to be much research into electronic deer deterrent systems. Aside from constant audio output and electric shock, no other means of electronic deterrent exist. Even if ...


Autonomous Golf Cart Firmware, Gerik Kubiak 2016 California Polytechnic State University, San Luis Obispo

Autonomous Golf Cart Firmware, Gerik Kubiak

Computer Engineering

The Autonomous Golf Cart Project is a project sponsored by the Cal Poly Robotics Club. The multidisciplinary team is adding sensors and electronics to a regular golf cart with the goal to drive the golf cart around campus without and human input. This task requires a plethora of hardware and firmware to control that hardware. The firmware provides an interface for higher level software to then control the hardware and therefore drive the golf cart. This report is focused on the hardware modifications and the firmware used in order to drive the golf cart from a computer.


Android Drone: Remote Quadcopter Control With A Phone, Aubrey John Russell 2016 California Polytechnic State University, San Luis Obispo

Android Drone: Remote Quadcopter Control With A Phone, Aubrey John Russell

Computer Engineering

The purpose of the “Android Drone” project was to create a quadcopter that can be controlled by user input sent over the phone’s Wi-Fi connection or 4G internet connection. Furthermore, the purpose was also to be able to receive live video feedback over the internet connection, thus making the drone an inexpensive option compared to other, equivalent drones that might cost thousands of dollars. Not only that, but the Android phone also has a host of other useful features that could be utilized by the drone: this includes GPS, pathing, picture taking, data storage, networking and TCP/IP, a ...


Psychophysiological Analysis Of A Pedagogical Agent And Robotic Peer For Individuals With Autism Spectrum Disorders., Mohammad Nasser Saadatzi 2016 University of Louisville

Psychophysiological Analysis Of A Pedagogical Agent And Robotic Peer For Individuals With Autism Spectrum Disorders., Mohammad Nasser Saadatzi

Electronic Theses and Dissertations

Autism spectrum disorder (ASD) is a neurodevelopmental disorder characterized by ongoing problems in social interaction and communication, and engagement in repetitive behaviors. According to Centers for Disease Control and Prevention, an estimated 1 in 68 children in the United States has ASD. Mounting evidence shows that many of these individuals display an interest in social interaction with computers and robots and, in general, feel comfortable spending time in such environments. It is known that the subtlety and unpredictability of people’s social behavior are intimidating and confusing for many individuals with ASD. Computerized learning environments and robots, however, prepare a ...


The Penn Hand-Clapping Motion Dataset, Naomi T. Fitter, Katherine J. Kuchenbecker 2016 University of Pennsylvania

The Penn Hand-Clapping Motion Dataset, Naomi T. Fitter, Katherine J. Kuchenbecker

Departmental Papers (MEAM)

The Penn Hand-Clapping Motion Dataset is composed of inertial measurement unit (IMU) recordings from the hand motions of 15 naïve people. Each of these individuals participated in an experiment during which they were asked to pantomime various sequences of 10 different motions: back five, clap, double, down five, front five, lap pat, left five, right five, right snap, and up five. The examined motions comprise most typical actions from hand-clapping games like “Pat-a-cake” and “Slide.” This project was published in our IROS 2016 paper entitled “Using IMU Data to Demonstrate Hand-Clapping Games to a Robot.” After hearing of interest from ...


Perceptions Of Planned Versus Unplanned Malfunctions: A Human-Robot Interaction Scenario, Theresa T. Kessler, Keith R. MacArthur, Manuel Trujillo-Silva, Thomas MacGillivray, Chris Ripa, Peter A. Hancock 2016 University of Central Florida

Perceptions Of Planned Versus Unplanned Malfunctions: A Human-Robot Interaction Scenario, Theresa T. Kessler, Keith R. Macarthur, Manuel Trujillo-Silva, Thomas Macgillivray, Chris Ripa, Peter A. Hancock

Keith Reid MacArthur

The present study investigated the effect of malfunctions on trust in a human-robot interaction scenario. Participants were exposed to either a planned or unplanned robot malfunction and then completed two different self-report trust measures. Resulting trust between planned and unplanned exposures was analyzed, showing that trust levels impacted by planned malfunctions did not significantly differ from those impacted by unplanned malfunctions. Therefore, it can be surmised that the methods used for the manipulation of the planned malfunctions were effective and are recommended for further study use.


Digital Commons powered by bepress