Robotics Commons^™

Learning In Vision And Robotics, Daniel P. Barrett

Open Access Dissertations

I present my work on learning from video and robotic input. This is an important problem, with numerous potential applications. The use of machine learning makes it possible to obtain models which can handle noise and variation without explicitly programming them. It also raises the possibility of robots which can interact more seamlessly with humans rather than only exhibiting hard-coded behaviors. I will present my work in two areas: video action recognition, and robot navigation. First, I present a video action recognition method which represents actions in video by sequences of retinotopic appearance and motion detectors, learns such models automatically …

Improved Microrobotic Control Through Image Processing And Automated Hardware Interfacing, Archit R. Aggarwal, Wuming Jing, David J. Cappelleri

The Summer Undergraduate Research Fellowship (SURF) Symposium

Untethered submilliliter-sized robots (microrobots) are showing potential use in different industrial, manufacturing and medical applications. A particular type of these microrobots, magnetic robots, have shown improved performance in power and control capabilities compared to the other thermal and electrostatic based robots. However, the magnetic robot designs have not been assessed in a robust manner to understand the degree of control in different environments and their application feasibility. This research project seeks to develop a custom control software interface to provide a holistic tool for researchers to evaluate the microrobotic performance through advance control features. The software deliverable involved two main …

Software Architecture And Development For Controlling A Hubo Humanoid Robot, Manas Ajit Paldhe

Open Access Theses

Due to their human-like structure, humanoid robots are capable of doing some complex tasks. Since a humanoid robot has a large number of actuators and sensors, controlling it is a difficult task. For various tasks like balancing, driving a car, and interacting with humans, real-time response of the robot is essential. Efficiently controlling a humanoid robot requires a software that guarantees real-time interface and control mechanism so that real-time response of the robot is possible. Addition- ally, to reduce the development effort and time, the software should be open-source, multi-lingual and should have high-level constructs inbuilt in it.

Currently Robot …

Reasoning Across Language And Vision In Machines And Humans, Andrei Barbu

Open Access Dissertations

Humans not only outperform AI and computer-vision systems, but use an unknown computational mechanism to perform tasks for which no suitable approaches exist. I present work investigating both novel tasks and how humans approach them in the context of computer vision and linguistics. I demonstrate a system which, like children, acquires high-level linguistic knowledge about the world. Robots learn to play physically-instantiated board games and use that knowledge to engage in physical play. To further integrate language and vision I develop an approach which produces rich sentential descriptions of events depicted in videos. I then show how to simultaneously detect …