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Full-Text Articles in Engineering
A Human-Embodied Drone For Dexterous Aerial Manipulation, Dongbin Kim
A Human-Embodied Drone For Dexterous Aerial Manipulation, Dongbin Kim
UNLV Theses, Dissertations, Professional Papers, and Capstones
Current drones perform a wide variety of tasks in surveillance, photography, agriculture, package delivery, etc. However, these tasks are performed passively without the use of human interaction. Aerial manipulation shifts this paradigm and implements drones with robotic arms that allow interaction with the environment rather than simply sensing it. For example, in construction, aerial manipulation in conjunction with human interaction could allow operators to perform several tasks, such as hosing decks, drill into surfaces, and sealing cracks via a drone. This integration with drones will henceforth be known as dexterous aerial manipulation.
Our recent work integrated the worker’s experience into …
Material Handling With Embodied Loco-Manipulation, Jean Chagas Vaz
Material Handling With Embodied Loco-Manipulation, Jean Chagas Vaz
UNLV Theses, Dissertations, Professional Papers, and Capstones
Material handling is an intrinsic component of disaster response. Typically, first responders, such as firefighters and/or paramedics, must carry, push, pull, and handle objects, facilitating the transportation of goods. For many years, researchers from around the globe have sought to enable full-sized humanoid robots to perform such essential material handling tasks. This work aims to tackle current limitations of humanoids in the realm of interaction with common objects such as carts, wheelbarrows, etc. Throughout this research, many methods will be applied to ensure a stable Zero Moment Point (ZMP) trajectory to allow a robust gait while loco-manipulating a cart. The …