Robotics Commons^™

Representation And Control Of Coordinated-Motion Tasks For Human-Robot Systems, Hyungju Andy Park

Open Access Dissertations

It is challenging for robots to perform various tasks in a human environment. This is because many human-centered tasks require coordination in both hands and may often involve cooperation with another human. Although human-centered tasks require different types of coordinated movements, most of the existing methodologies have focused only on specific types of coordination. This thesis aims at the description and control of coordinated-motion tasks for human-robot systems; i.e., humanoid robots as well as multi-robot and human-robot systems.

First, for bimanually coordinated-motion tasks in dual-manipulator systems, we propose the Extended-Cooperative-Task-Space (ECTS) representation, which extends the existing Cooperative-Task-Space (CTS) representation based …

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 …