Robotics Commons^™

Force Feedback And Intelligent Workspace Selection For Legged Locomotion Over Uneven Terrain, John Rippetoe

USF Tampa Graduate Theses and Dissertations

Legged robots present an incredible opportunity for humanity to conduct dangerous operations such as search and rescue, disaster recovery, and planetary exploration without ever placing themselves in harms way. The ability of a leg to more freely dictate its shape, orientation, and length gives it tremendous mobility and adaptability demanded of a system intended for operation outside of a controlled environment. However, one only need look at the average cat, dog, or friendly neighborhood squirrel to understand the immense gap that exists between what is possible of legged systems and their current set of capabilities.

Areas of study relevant to …

Multi-Scale Spatial Cognition Models And Bio-Inspired Robot Navigation, Martin I. Llofriu Alonso

USF Tampa Graduate Theses and Dissertations

The rodent navigation system has been the focus of study for over a century. Discoveries made lately have provided insight on the inner workings of this system. Since then, computational approaches have been used to test hypothesis, as well as to improve robotics navigation and learning by taking inspiration on the rodent navigation system.

This dissertation focuses on the study of the multi-scale representation of the rat’s current location found in the rat hippocampus. It first introduces a model that uses these different scales in the Morris maze task to show their advantages. The generalization power of larger scales of …

Orthoplanar Spring Based Compliant Force/Torque Sensor For Robot Force Control, Jerry West

USF Tampa Graduate Theses and Dissertations

A compliant force/torque sensor for robot force control has been developed. This thesis presents methods of designing, testing, and implementing the sensor on a robotic system. The sensor uses an orthoplanar spring equipped with Hall-effect sensors to measure one component of force and two moment components. Its unique design allows for simple and cost effective manufacturing, high reliability, and compactness. The device may be used in applications where a robot must control contact forces with its environment, such as in surface cleaning tasks, manipulating doors, and removing threaded fasteners. The compliant design of the sensor improves force control performance and …

Impact Force Reduction Using Variable Stiffness With An Optimal Approach For Jumping Robots, Juan Manuel Calderon Chavez

USF Tampa Graduate Theses and Dissertations

Running, jumping and walking are physical activities that are performed by humans in a simple and efficient way. However, these types of movements are difficult to perform by humanoid robots. Humans perform these activities without difficulty thanks to their ability to absorb the ground impact force. The absorption of the impact force is based on the human ability to vary muscles stiffness.

The principal objective of this dissertation is to study vertical jumps in order to reduce the impact force in the landing phase of the jump motion of humanoid robots. Additionally, the impact force reduction is applied to an …

Kinematic Control Of Redundant Mobile Manipulators, Mustafa Mashali

USF Tampa Graduate Theses and Dissertations

A mobile manipulator is a robotic arm mounted on a robotic mobile platform. In such a system, the degrees of freedom of the mobile platform are combined with that of the manipulator. As a result, the workspace of the manipulator is substantially extended. A mobile manipulator has two trajectories: the end-effector trajectory and the mobile platform trajectory. Typically, the mobile platform trajectory is not defined and is determined through inverse kinematics. But in some applications it is important to follow a specified mobile platform trajectory. The main focus of this work is to determine the inverse kinematics of a mobile …

Dual 7-Degree-Of-Freedom Robotic Arm Remote Teleoperation Using Haptic Devices, Yu-Cheng Wang

USF Tampa Graduate Theses and Dissertations

A teleoperated system of dual redundant manipulator will be controlled in this thesis. The robot used with the dual redundant manipulator in this thesis is Baxter. Baxter’s redundant robot arms are 7-degree-of-freedom arms. The problem that will be solved in this thesis is optimization of the 7-degree-of-freedom robot arms. The control algorithm of the 7-degree-of-freedom robot arms will be discussed and built. A simulation program will be built to test the control algorithm. Based on the control algorithm, a teleoperation system will be created for Baxter. The controller used is Omni, which is a six-joint haptic device. Omni will also …

Visual Slam And Surface Reconstruction For Abdominal Minimally Invasive Surgery, Bingxiong Lin

USF Tampa Graduate Theses and Dissertations

Depth information of tissue surfaces and laparoscope poses are crucial for accurate surgical guidance and navigation in Computer Assisted Surgeries (CAS). Intra-operative Three Dimensional (3D) reconstruction and laparoscope localization are therefore two fundamental tasks in CAS. This dissertation focuses on the abdominal Minimally Invasive Surgeries (MIS) and presents laparoscopic-video-based methods for these two tasks.

Different kinds of methods have been presented to recover 3D surface structures of surgical scenes in MIS. Those methods are mainly based on laser, structured light, time-of-flight cameras, and video cameras. Among them, laparoscopic-video-based surface reconstruction techniques have many significant advantages. Specifically, they are non-invasive, provide …

Reducing The Control Burden Of Legged Robotic Locomotion Through Biomimetic Consonance In Mechanical Design And Control, Caitrin Elizabeth Eaton

USF Tampa Graduate Theses and Dissertations

Terrestrial robots must be capable of negotiating rough terrain if they are to become autonomous outside of the lab. Although the control mechanism offered by wheels is attractive in its simplicity, any wheeled system is confined to relatively flat terrain. Wheels will also only ever be useful for rolling, while limbs observed in nature are highly multimodal. The robust locomotive utility of legs is evidenced by the many animals that walk, run, jump, swim, and climb in a world full of challenging terrain.

On the other hand, legs with multiple degrees of freedom (DoF) require much more complex control and …

A Brain Robot Interface For Autonomous Activities Of Daily Living Tasks, Don Indika Upashantha Pathirage

USF Tampa Graduate Theses and Dissertations

There have been substantial improvements in the area of rehabilitation robotics in the recent past. However, these advances are inaccessible to a large number of people with disabilities who are in most need of such assistance. This group includes people who are in a severely paralyzed state, that they are completely "locked-in" in their own bodies. Such persons usually retain full cognitive abilities, but have no voluntary muscle control.

For these persons, a Brain Computer Interface (BCI) is often the only way to communicate with the outside world and/or control an assistive device. One major drawback to BCI devices is …

A Multi-Case Study Of Student Interactions With Educational Robots And Impact On Science, Technology, Engineering, And Math (Stem) Learning And Attitudes, Stephanie Holmquist

USF Tampa Graduate Theses and Dissertations

The demand for STEM trained workers continues to increase not only in the United States, but globally. Reports have indicated that the United States is not doing a good job encouraging students to pursue STEM oriented degrees. In particular, it has become increasingly important to emphasize STEM connections at an early level in order to encourage student career exploration as they continue their education. Educational robots represent a unique alternative to traditional methods, especially at the elementary level. Considering the use of educational robots have largely been ignored at this level, the purpose of this study was to describe the …

Scene-Dependent Human Intention Recognition For An Assistive Robotic System, Kester Duncan

USF Tampa Graduate Theses and Dissertations

In order for assistive robots to collaborate effectively with humans for completing everyday tasks, they must be endowed with the ability to effectively perceive scenes and more importantly, recognize human intentions. As a result, we present in this dissertation a novel scene-dependent human-robot collaborative system capable of recognizing and learning human intentions based on scene objects, the actions that can be performed on them, and human interaction history. The aim of this system is to reduce the amount of human interactions necessary for communicating tasks to a robot. Accordingly, the system is partitioned into scene understanding and intention recognition modules. …

A Distributed Local-Leg Feedback Algorithm For Robust Walking On Uneven Terrain, Mayur Ramakant Palankar

USF Tampa Graduate Theses and Dissertations

Legged animals can traverse significantly more of the Earth's land mass than man-made wheeled and tracked vehicles~\cite{Anonymous67}. Their impressive mobility is largely due to multiple dexterous legs and the robust algorithms that coordinate and control them. A legged animal such as a squirrel can exhibit multiple locomotion modes such as walking, running and jumping and also multiple gaits or leg phase timings within each mode. A robot that could mimic this level of robust locomotion would be highly useful for planetary exploration, military reconnaissance, and time-critical search and rescue in cluttered or collapsed buildings.

A number of biological studies on …

Robotic Swarming Without Inter-Agent Communication, Daniel Jonathan Standish

USF Tampa Graduate Theses and Dissertations

Many physical and algorithmic swarms utilize inter-agent communication to achieve advanced swarming behaviors. These swarms are inspired by biological swarms that can be seen throughout nature and include bee swarms, ant colonies, fish schools, and bird flocks. These biological swarms do not utilize inter-agent communication like their physical and algorithmic counterparts. Instead, organisms in nature rely on a local awareness of other swarm members that facilitates proper swarm motion and behavior. This research aims to pursue an effective swarm algorithm using only line-of-sight proximity information and no inter-agent communication. It is expected that the swarm performance will be lower than …

Fpca Based Human-Like Trajectory Generating, Wei Dai

USF Tampa Graduate Theses and Dissertations

This thesis presents a new human-like upper limb and hand motion generating method. The work is based on Functional Principal Component Analysis and Quadratic Programming. The human-like motion generating problem is formulated in a framework of minimizing the difference of the dynamic profile of the optimal trajectory and the known types of trajectory. Statistical analysis is applied to the pre-captured human motion records to work in a low dimensional space. A novel PCA FPCA hybrid motion recognition method is proposed. This method is implemented on human grasping data to demonstrate its advantage in human motion recognition. One human grasping hierarchy …

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

USF Tampa 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 …

The Creation Of A Robotics Based Human Upper Body Model For Predictive Simulation Of Prostheses Performance, Derek James Lura

USF Tampa Graduate Theses and Dissertations

This work focuses on the use of 3D motion capture data to create and optimize a robotic human body model (RHBM) to predict the inverse kinematics of the upper body. The RHBM is a 25 degrees of freedom (DoFs) upper body model with subject specific kinematic parameters. The model was developed to predict the inverse kinematics of the upper body in the simulation of a virtual person, including persons with functional limitations such as a transradial or transhumeral amputation. Motion data were collected from 14 subjects: 10 non-amputees control subjects, 1 person with a transradial amputation, and 3 persons with …

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

USF Tampa 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" …

Robotic Hand Evaluation Based On Task Specific Kinematic Requirements, Carlos Rafael Neninger

USF Tampa Graduate Theses and Dissertations

With the rise autonomous and robotic systems in field applications, the need for dexterous, highly adaptable end effectors has become a major research topic. Control mechanisms of robotics hands with a high number independent actuators is recognized as a complex, high dimensional problem, with exponentially complex algorithms. However, recent studies have shown that human hand motion possesses very high joint correlation which translates into a set of predefined postures, or synergies. The hand produces a motion using a complementing contribution of multiple joints, called synergies. The similarities place variables onto a common dimensional space, effectively reducing the number of independent …

Utilizing A Computational Model For The Design Of A Passive Dynamic Walker, Craig Alan Honeycutt

USF Tampa Graduate Theses and Dissertations

Recent interest in using passive dynamic walkers (PDWs) for gait rehabilitation studies has presented a need for a robust, easily built mechanism. Unfortunately, these passive robots are hypersensitive to many variables outside of the usual design considerations that are studied when constructing them. By accentuating previous failures instead of suppressing them, this thesis presents a number of problematic situations commonly experienced when testing and tuning a PDW.

Further, through a complete design of a 4-legged PDW with knees, simple design axioms brought about by myself and others are put into a practical context and applied directly to design. This thesis …

Asymmetric Passive Dynamic Walker Used To Examine Gait Rehabilitation Methods, John Sushko

USF Tampa Graduate Theses and Dissertations

Testing gait rehabilitation devices on humans can be a difficult task, due to the effects of the neurological controls of the human body. This thesis advances the use of a passive dynamic walker (PDW) tuned to have asymmetric gait patterns similar to those with physical impairments to test rehabilitation devices. A passive dynamic walker is a multipendulum system that has a stable gait pattern when walking down a slope without any energy inputs except the forces due to gravity. A PDW model is better suited for testing rehabilitation devices because it has been shown to resemble human gait and separates …