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Full-Text Articles in Robotics
On Uncertainty For Ill-Posed Robot Decision Problems, Jared Joseph Beard
On Uncertainty For Ill-Posed Robot Decision Problems, Jared Joseph Beard
Graduate Theses, Dissertations, and Problem Reports
As robots adopt more real world responsibilities, they will be expected to solve more complicated problems. In some cases limited prior knowledge will result in unmodelled environmental conditions; in others, multiple users may have competing perspectives on how to frame a decision problem. Many existing frameworks, namely Markov decision processes (MDP) presuppose users have identified a specific problem with models sufficient to solve or learn a problem. If we wish to extend MDPs to novel problems or those heavily dependent on user feedback, autonomous decision makers must be able to identify limitations in how a given problem is framed and …
Designs And Practical Control Methods For Soft Parallel Robots, Benjamin T. Buzzo
Designs And Practical Control Methods For Soft Parallel Robots, Benjamin T. Buzzo
Graduate Theses, Dissertations, and Problem Reports
The use of soft robotics is becoming an increasingly researched topic, since they can provide more flexibility in movements and increase safety when working with humans. However, they are more susceptible to modeling and manufacturing errors in the design.
The objective of this thesis is two-fold, the first objective is to determine the benefits and limitations of using calibration tables that rely on the PWM signals instead of modeling as a control method. If calibration tables are not adequate to achieve a high level of precision. The second objective is to determine if using a tethered mobile robot in unison …
Route Planning For Long-Term Robotics Missions, Christopher Alexander Arend Tatsch
Route Planning For Long-Term Robotics Missions, Christopher Alexander Arend Tatsch
Graduate Theses, Dissertations, and Problem Reports
Many future robotic applications such as the operation in large uncertain environment depend on a more autonomous robot. The robotics long term autonomy presents challenges on how to plan and schedule goal locations across multiple days of mission duration. This is an NP-hard problem that is infeasible to solve for an optimal solution due to the large number of vertices to visit. In some cases the robot hardware constraints also adds the requirement to return to a charging station multiple times in a long term mission. The uncertainties in the robot model and environment require the robot planner to account …