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Full-Text Articles in Robotics
Kernelized Locality-Sensitive Hashing For Fast Image Landmark Association, Mark A. Weems
Kernelized Locality-Sensitive Hashing For Fast Image Landmark Association, Mark A. Weems
Theses and Dissertations
As the concept of war has evolved, navigation in urban environments where GPS may be degraded is increasingly becoming more important. Two existing solutions are vision-aided navigation and vision-based Simultaneous Localization and Mapping (SLAM). The problem, however, is that vision-based navigation techniques can require excessive amounts of memory and increased computational complexity resulting in a decrease in speed. This research focuses on techniques to improve such issues by speeding up and optimizing the data association process in vision-based SLAM. Specifically, this work studies the current methods that algorithms use to associate a current robot pose to that of one previously …
Robotic Hand Evaluation Based On Task Specific Kinematic Requirements, Carlos Rafael Neninger
Robotic Hand Evaluation Based On Task Specific Kinematic Requirements, Carlos Rafael Neninger
USF Tampa Graduate Theses and Dissertations
With the rise autonomous and robotic systems in field applications, the need for dexterous, highly adaptable end effectors has become a major research topic. Control mechanisms of robotics hands with a high number independent actuators is recognized as a complex, high dimensional problem, with exponentially complex algorithms. However, recent studies have shown that human hand motion possesses very high joint correlation which translates into a set of predefined postures, or synergies. The hand produces a motion using a complementing contribution of multiple joints, called synergies. The similarities place variables onto a common dimensional space, effectively reducing the number of independent …