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Full-Text Articles in Engineering
Semantically Grounded Learning From Unstructured Demonstrations, Scott D. Niekum
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 …
Human Intention Recognition Based Assisted Telerobotic Grasping Of Objects In An Unstructured Environment, Karan Hariharan Khokar
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 …