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Full-Text Articles in Mechanical Engineering

Human Intention Recognition Based Assisted Telerobotic Grasping Of Objects In An Unstructured Environment, Karan Hariharan Khokar Jan 2013

Human Intention Recognition Based Assisted Telerobotic Grasping Of Objects In An Unstructured Environment, Karan Hariharan Khokar

Graduate Theses and Dissertations

In this dissertation work, a methodology is proposed to enable a robot to identify an object to be grasped and its intended grasp configuration while a human is teleoperating a robot towards the desired object. Based on the detected object and grasp configuration, the human is assisted in the teleoperation task. The environment is unstructured and consists of a number of objects, each with various possible grasp configurations. The identification of the object and the grasp configuration is carried out in real time, by recognizing the intention of the human motion. Simultaneously, the human user is assisted to preshape over ...


Autonomous Mobility And Manipulation Of A 9-Dof Wmra, William Garrett Pence Jan 2011

Autonomous Mobility And Manipulation Of A 9-Dof Wmra, William Garrett Pence

Graduate Theses and Dissertations

The wheelchair-mounted robotic arm (WMRA) is a 9-degree of freedom (DoF) assistive system that consists of a 2-DoF modified commercial power wheelchair and a custom 7-DoF robotic arm. Kinematics and control methodology for the 9-DoF system that combine mobility and manipulation have been previously developed and implemented. This combined control allows the wheelchair and robotic arm to follow a single trajectory based on weighted optimizations. However, for the execution of activities of daily living (ADL) in the real-world environment, modified control techniques have been implemented.

In order to execute macro ADL tasks, such as a "go to and pick up ...


Exploring The Human Interactivity With A Robot To Obtain The Fundamental Properties Of Materials, William L. Christian Oct 2010

Exploring The Human Interactivity With A Robot To Obtain The Fundamental Properties Of Materials, William L. Christian

Graduate Theses and Dissertations

This research studies the way in which humans and robots interact with each other. When two humans are working together through a set of robotic devices, do they tend to work together or fight with each other more? In which Cartesian direction do they have the most difficulty? Does fighting drastically affect the performance of the team? Finally, what measures can be taken to promote better cooperation between humans and robots to ultimately allow humans to work just as comfortably with a robotic partner as with a human partner? This research answers these questions and provides an analysis of human-robot ...