Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 11 of 11 for “"7-DOF"”.
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7-DOF Robotic Arm XY-Plane Translational Stability
… the forces generated by the movement of a 7-DOF Sawyer robotic arm using the arm’s Universal Robotics Description Format (URDF) parameters provided by Spear (2017) and a Denavit-Hartenberg method for the geometric solution of the arm’s kinematics, the induced motion caused by the arm’s …
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Design of Fingertip Sensors and 7-Dof Hands for Robotic Manipulation
… and robotic manipulation platform with high DOFs.
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Design of human-like posture prediction for inverse kinematic posture control of a humanoid robot
… on a simple redundant 3 degree of freedom (dof) manipulator and is set up for a more complicated redundant 7 dof manipulator. The 7 dof manipulator is modeled from the Stan Winston studio's Leonardo, an 61 dof expressive humanoid robot. It has been found that the inverse kinematic solution …
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Kinematic Calibration of Serial Manipulators Using Relative Measurements
… are investigated. Both a Thermo CRS A465 and a 7 DOF WAM Arm were used in this thesis. The results for the WAM Arm lead to a significant improvement in the end-effector pose accuracy. The implication is that the relative measurement concept is a valid tool for model-based kinematic calibration of …
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Relatively robust grasping
… despite significant uncertainty, using a 7-DOF Barrett Arm and attached 4-DOF Barrett Hand equipped with force and contact sensors. Our approach is generalizable to almost any sensor type, as well as wide ranges of sensor error and pose uncertainty.
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Human factors and telerobotics : tools and approaches for designing remote robotic workstation displays
… to a suited crewmember and consists of two 7 DOF arms, two 12 DOF hands, a 6+ DOF "stinger tail", and a 2+ DOF stereo camera platform. Current robotic workstations are insufficient for controlling highly dexterous manipulators, which require full immersion operator telepresence. The Robonaut …
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Sample-Efficient Deep Reinforcement Learning for Continuous Control
… been shown to be able to train two 7-DoF robot arms to open doors using only 2.5 hours of real-world experience, making it one of the first demonstrations of deep RL approaches on real robots.
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Parallel design optimization of multi-trailer articulated heavy vehicles with active safety systems
… vehicle (STAHV) model with 5 degrees of freedom (DOF) and a MTAHV model with 7 DOF are generated. The vehicle models are validated with those derived using a commercial software package, TruckSim, in order to examine their applicability for the design optimization of MTAHVs with active safety …
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Learning Probabilistic Generative Models For Fast Sampling-Based Planning
… effectiveness in simulation and on a physical 7-DoF robot manipulator.
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Techniques for using 3D Terrain Surface Measurements for Vehicular Simulations
Throughout a ground vehicle development program, it is necessary to possess the loads the vehicle will experience. Unfortunately, actual loads are only available at the conclusion of the program, when the vehicle has been built and design changes are costly. The design engineer is challenged with …
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Force control and collision avoidance strategies for kinematically redundant manipulators
… this scheme is studied using simulations on a 3-DOF planar arm. This scheme is then extended to the 3-D workspace of a 7-DOF redundant manipulator. The performance of the extended scheme with respect to static and moving object collision avoidance and also joint limit avoidance is studied using …