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 20 of 75 for “"Humanoid robot"”.
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Surface Electromyographic Control of a Humanoid Robot
… for controlling 1-DOF for the DARwIn-OP humanoid robot. This work also details the analysis of the relationship between surface electromyographic activity of the Biceps Brachii muscle and the angle of the elbow joint for the pseudo-static, unloaded arm case. The human arm was mechanically …
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Visual servo control on a humanoid robot
This thesis deals with the control of a humanoid robot based on visual servoing. It seeks to confer a degree of autonomy to the robot in the achievement of tasks such as reaching a desired position, tracking or/and grasping an object. The autonomy of humanoid robots is considered as crucial for the …
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A gestural language for a humanoid robot
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2001.
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Bring-up of Tello– a dynamic humanoid robot
… the bring-up of RoboDesign Lab’s dynamic humanoid robot- Tello. Designed for research of teleoperation through real-time synchronization of robots and human pilots, the Tello hardware and software has been engineered to meet the unique high-performance requirements that RoboDesign Lab’s …
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Design and Control of a Humanoid Robot, SAFFiR
… their lives for the safety of others. Developing robotic technologies to aid in such emergencies could greatly reduce the risk these individuals must take, even going so far as to eliminate the need to risk one life for another. In this role, humanoid robots are a strong candidate, being able to …
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Design of a Humanoid Robot for Disaster Response
… focuses on the design and implementation of a humanoid robot for disaster response. In particular, this thesis investigates the lower body design in detail with the upper body discussed at a higher level. The Tactical Hazardous Operations Robot (THOR) was designed to compete in the DARPA …
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Humanoid Robot Friction Estimation in Multi-Contact Scenarios
… utilized in con- cert with whole body control on humanoid robots. This approach allows humanoid robots with ankle mounted force-torque sensors to extrapolate information about the friction constraints at the hands during multi-contact poses without the addition of hardware to the platform. This is …
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Damage Reduction Strategies for a Falling Humanoid Robot
Instability of humanoid robots is a common problem, especially given external disturbances or difficult terrain. Even with the robustness of most whole body controllers, instability is inevitable given the right conditions. When these unstable events occur they can result in costly damage to the …
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A Robot Operating System (ROS) based humanoid robot control
… the capability of a commercially available robot, namely, Robotis Bioloid Premium Humanoid Robot (BPHR). BeagleBone Black (BBB), the decision-making and implementing (intelligence providing) component, with multifunctional capabilities is used in this research. Robot operating System (ROS) …
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Design and Control of a Structurally Elastic Humanoid Robot
In upcoming decades, humanoid robots are expected to fill the current labor crisis by completing simple behaviors such as lifting and delivering heavy objects around a factory, sorting components, and placing parts onto an engineering build for an assembly line. Unlike other robots that have a …
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Developmental model of sensorimotor map acquisition for a humanoid robot
Cognitive developmental robotics unites machine learning and neuroscience with the aim of creating robots which display the robustness and efficiency of human cognition. This document proposes a novel method for acquiring a visuomotor mapping for hand-eye coordination. This model is trained on the …
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Autonomous learning of action-word semantics in a humanoid robot
… learning experiments implemented on a humanoid robot.
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Cognitive-developmental learning for a humanoid robot : a caregiver's gift
… acquire new object representations. The humanoid robot therefore sees the world through the caregiver's eyes. Building an artificial humanoid robot's brain, even at an infant's cognitive level, has been a long quest which still lies only in the realm of our imagination. Our efforts …
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Design and implementation of balance control in a humanoid robot
… for the purpose of achieving balance in a humanoid robot. An artificial muscle model was adapted which modified physiological parameters for the purpose of controlling a lightweight robot skeleton. Gains were modified as a function of joint angles to permit low gain near the equilibrium …
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Foundations for a theory of mind for a humanoid robot
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2001.
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Design of Linear Series Elastic Actuators for a Humanoid Robot
… have numerous benefits for force controlled robotic applications. This thesis presents the design and assembly of a set of compact, lightweight, low-friction linear SEAs for the legs of the Tactical Hazardous Operations Robot (THOR). The THOR SEA pairs a ball screw driven linear actuator with …
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Humanoid robot dynamic synchronization via whole-body teleoperation with bilateral feedback
Despite remarkable recent advances in robotic research, legged machines are still far from robustly executing physical actions with comparable performance to humans. Yet, the potential applications for robots with such unique capabilities range from disaster response all the way to elderly care and …
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Design of a mixed reality workspace for an expressive humanoid robot
The MIT Media Laboratory Robotic Life Group's Leonardo is a highly expressive robot used for, among other things, social learning and human-robot teamwork research. A mixed reality workspace was conceived to aid in experimentation and demonstration of human-robot interaction by providing a complex …
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An analysis on controlling humanoid robot arm using Robot Operating System (ROS)
Humanoid robots are extensively discussed in modern days. The movement task and manipulation of Humanoid Robots is examined based on mobility of platforms and control of the arm. This project describes a robotic arm that is analogous to an arm of a human being. Some important parameters to be …
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Design of Lower Legs of Mithra, a High-Performance Backdrivable Humanoid Robot
… design of the knee and ankle of Mithra, a new humanoid robot that aims to be an energy-efficient and highly agile machine. Mithra makes use of new optimization metrics for legged robots to develop a system capable of mimicking human movement. A series of low-impedance, high-torque actuator …
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