Engineering Commons^™

Computer-Based Stereoscopic Parts Recognition For Robotic Applications, Ahmad A. Fayed

UNLV Theses, Dissertations, Professional Papers, and Capstones

Most of robotic handling and assembly operations are based on sensors such as range and touch sensors. In certain circumstances, such as in the presence of ionizing radiation where most customary sensors will degrade over time due to radiation exposure, these sensors won't function properly. Utilizing two or more cameras (stereo vision) located outside the target zone and analyzing their images to identify location and dimensions of parts within the robot workspace is an alternative for using sensors. Object Recognition is affected by the light condition which oftentimes causes the gray-scale or red, green, and blue values to have a …

Semantically Grounded Learning From Unstructured Demonstrations, Scott D. Niekum

Open Access Dissertations

Robots exhibit flexible behavior largely in proportion to their degree of semantic knowledge about the world. Such knowledge is often meticulously hand-coded for a narrow class of tasks, limiting the scope of possible robot competencies. Thus, the primary limiting factor of robot capabilities is often not the physical attributes of the robot, but the limited time and skill of expert programmers. One way to deal with the vast number of situations and environments that robots face outside the laboratory is to provide users with simple methods for programming robots that do not require the skill of an expert.

For this …

Caddy: A 2005 Roborodentia Entry With Vision And Path Planning Abilities, Taylor Braun-Jones

Computer Engineering

Roborodentia is an autonomous robotics competition held each year during Cal Poly’s Open House. For the 2005 competition, robot entries needed to navigate a maze searching for three randomly placed golf balls, collect them, and then deposit the balls in the “nest” at the end of the maze. A newly added aspect for the 2005 competition included two bonus balls that were placed on a platform behind the wall in two predetermined corners of the maze.

Caddy is a robot that was entered into the 2005 Roborodentia competition. Caddy included a vision system that allowed searching for balls down untraveled …

Human Intention Recognition Based Assisted Telerobotic Grasping Of Objects In An Unstructured Environment, Karan Hariharan Khokar

USF Tampa Graduate Theses and Dissertations

In this dissertation work, a methodology is proposed to enable a robot to identify an object to be grasped and its intended grasp configuration while a human is teleoperating a robot towards the desired object. Based on the detected object and grasp configuration, the human is assisted in the teleoperation task. The environment is unstructured and consists of a number of objects, each with various possible grasp configurations. The identification of the object and the grasp configuration is carried out in real time, by recognizing the intention of the human motion. Simultaneously, the human user is assisted to preshape over …