Engineering Commons^™

3d Robotic Sensing Of People: Human Perception, Representation And Activity Recognition, Hao Zhang

Doctoral Dissertations

The robots are coming. Their presence will eventually bridge the digital-physical divide and dramatically impact human life by taking over tasks where our current society has shortcomings (e.g., search and rescue, elderly care, and child education). Human-centered robotics (HCR) is a vision to address how robots can coexist with humans and help people live safer, simpler and more independent lives.

As humans, we have a remarkable ability to perceive the world around us, perceive people, and interpret their behaviors. Endowing robots with these critical capabilities in highly dynamic human social environments is a significant but very challenging problem in practical …

Cytongrasp: Cyton Alpha Controller Via Graspit! Simulation, Nicholas Wayne Overfield

Masters Theses

This thesis addresses an expansion of the control programs for the Cyton Alpha 7D 1G arm. The original control system made use of configurable software which exploited the arm’s seven degrees of freedom and kinematic redundancy to control the arm based on desired behaviors that were configured off-line. The inclusions of the GraspIt! grasp planning simulator and toolkit enables the Cyton Alpha to be used in more proactive on-line grasping problems, as well as, presenting many additional tools for on-line learning applications. In short, GraspIt! expands what is possible with the Cyton Alpha to include many machine learning tools and …