Robotics Commons^™

Synthesizing Expressive Behaviors For Humanoid Robots, Mathias Irwan Sunardi

Dissertations and Theses

Humanoid robots are expected to be able to communicate with expressive gestures at the same level of proficiency as humans. However, creating expressive gestures for humanoid robots is difficult and time consuming due to the high number of degrees of freedom (DOF) and the iterations needed to get the desired expressiveness.

Current robot motion editing software has varying levels of sophistication of motion editing tools ranging from basic ones that are text-only, to ones that provide graphical user interfaces (GUIs) which incorporate advanced features, such as curve editors and inverse kinematics. These tools enable users to create simple motions; but …

V-Slam And Sensor Fusion For Ground Robots, Ejup Hoxha

Dissertations and Theses

In underground, underwater and indoor environments, a robot has to rely solely on its on-board sensors to sense and understand its surroundings. This is the main reason why SLAM gained the popularity it has today. In recent years, we have seen excellent improvement on accuracy of localization using cameras and combinations of different sensors, especially camera-IMU (VIO) fusion. Incorporating more sensors leads to improvement of accuracy,but also robustness of SLAM. However, while testing SLAM in our ground robots, we have seen a decrease in performance quality when using the same algorithms on flying vehicles.We have an additional sensor for ground …