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Full-Text Articles in Electrical and Computer Engineering
Cytongrasp: Cyton Alpha Controller Via Graspit! Simulation, Nicholas Wayne Overfield
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 …
Imirok: Real-Time Imitative Robotic Arm Control For Home Robot Applications, Heng-Tze Cheng, Zheng Sun, Pei Zhang
Imirok: Real-Time Imitative Robotic Arm Control For Home Robot Applications, Heng-Tze Cheng, Zheng Sun, Pei Zhang
Zheng Sun
Training home robots to behave like human can help people with their daily chores and repetitive tasks. In this paper, we present Imirok, a system to remotely control robotic arms by user motion using low-cost, off-the-shelf mobile devices and webcam. The motion tracking algorithm detects user motion in real-time, without classifier training or predefined action set. Experimental results show that the system achieves 90% precision and recall rate on motion detection with blank background, and is robust under the change of cluttered background and user-to-camera distance.