Engineering Commons^™

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 …

Telerobotic Sensor-Based Tool Control Derived From Behavior-Based Robotics Concepts, Mark William Noakes

Doctoral Dissertations

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Teleoperated task execution for hazardous environments is slow and requires highly skilled operators. Attempts to implement telerobotic assists to improve efficiency have been demonstrated in constrained laboratory environments but are not being used in the field because they are not appropriate for use on actual remote systems operating in complex unstructured environments using typical operators. This work describes a methodology for combining select concepts from behavior-based systems with telerobotic tool control in a way that is compatible …

Control And Coordination In A Networked Robotic Platform, Krishna Chaitanya Kalavacharla

Masters Theses

Control and Coordination of the robots has been widely researched area among the swarm robotics. Usually these swarms are involved in accomplishing tasks assigned to them either one after another or concurrently. Most of the times, the tasks assigned may not need the entire population of the swarm but a subset of them. In this project, emphasis has been given to determination of such subsets of robots termed as ”flock” whose size actually depends on the complexity of the task. Once the flock is determined from the swarm, leader and follower robots are determined which accomplish the task in a …