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A Human-In-The-Loop Robot Grasping System With Grasp Quality Refinement, Tian Tan
A Human-In-The-Loop Robot Grasping System With Grasp Quality Refinement, Tian Tan
USF Tampa Graduate Theses and Dissertations
The goal of this dissertation is to develop a grasping system for assistive robots that can help people with disabilities and the elderly to perform tasks of daily living. In developing this robot grasping system, we maximize its reliability, accuracy, and autonomy. High reliability and accuracy are required for robots to perform tasks around human users and to safely interact with objects that might be fragile or have contents that could spill. High autonomy is desired as users with disabilities are usually not dexterous enough to directly operate the robot. In this dissertation, a human-in-the-loop (HitL) robot grasping system is …