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 20 for “"Motion Primitives"”.
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Composing motion primitives under disturbances: a switched systems approach
… A diverse collection of suitable primitive motions, and the capability to switch among them, can provide a sufficiently rich repertoire of behaviors for adapting to or compensating for such signals. This dissertation provides a method to generate complex goal-oriented robot motions that are …
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Motion Primitives and Planning for Robots with Closed Chain Systems and Changing Topologies
… environments, a robot should use predictable motions that allow humans to trust and anticipate its behavior. Heuristic search-based planning offers predictable motions and guarantees on completeness and sub-optimality of solutions. While search-based planning on motion primitive-based …
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Following recipes with a cooking robot
… in a toaster oven. We developed parameterized motion primitives for baking. The motion primitives utilize the existing sensing and manipulation capabilities of the PR2 platform and also our new compliant control techniques to address environmental uncertainty. The system was first implemented …
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Adaptive motion synthesis and motor invariant theory.
Generating natural-looking motion for virtual characters is a challenging research topic. It becomes even harder when adapting synthesized motion to interact with the environment. Current methods are tedious to use, computationally expensive and fail to capture natural looking features. These …
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Sensing and filtering for localization tasks
… problems for robots with weak sensors and simple motion primitives. We evaluate the capabilities of the robots and propose algorithms that allow them to navigate to certain points in the plane and to learn information about the robot model or the landmark locations. We, furthermore, demonstrate …
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Modeling and control of a self-assembled robotic swimmer
… regulation with a receding horizon to track motion primitives that could be used for path following. Hardware experiments validate our approach.
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Visibility analysis of landmark-based navigation
… where it has no bearings to use any of its motion primitives. Additionally, if the robot reaches a position where it can see two landmarks of the same class, its motion primitives become ambiguous. Because the number of landmark classes available for navigation is dependent on the …
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Don’t Over Think It: Mechanically Intelligent Manipulation
… of a grasped object. We demonstrate how these motion primitives and other aspects of BOP’s morphology enable the simple adaption of an existing planning frameworks to perform a complex manipulation tasks. Flexible Robust Observant Gripper (FROG) eases perception and control through the …
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Exploiting Novel Deep Learning Architecture in Character Animation Pipelines
… that have been applied to the field of human motion modelling and character animation. The recent advances in motion capture systems and processing hardware have shifted from physics-based approaches to data-driven approaches that are heavily used in the current game production frameworks. …
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An embodied, platform-invariant architecture for robotic spatial commands
… proposed that allows pose generation of simple motion primitives. In particular, a general method for labeling connected platform linkages, generating a databank of user-specified poses, and mapping between high-level spatial commands and specific platform static configurations are presented. …
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Development of astronaut reorientation methods : a computational and experimental study
… of training hours, the strategies for locomotion and orientation are not specifically prescribed. The majority of an astronaut's motion-control strategies are developed underwater. While underwater training can be beneficial in certain aspects, such as learning which orientations an …
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Controlling Contact Transitions for Dynamic Robots
… in contact-implicit MPC to generate contact-rich motion plans in real-time. We demonstrate, through careful integration of the MPC and low-level tracking controller, how contact-implicit MPC can be adapted to dynamic tasks. We perform two distinct tasks using the same model, notably without common …
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Application Oriented Programming and Control of Industrial Robots
… interplay between user level commands, the motion control system, and external equipment. It should also be possible for an experienced application engineer to tailor the motion control to a specific application in a convenient way, instead of deficient utilization of the device or tricky …
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Safety-Aware Trajectory Generation for Increased Autonomy in Advanced Air Mobility
… directly into trajectory planning through motion primitives, allowing generation of dynamically feasible paths. Nominal trajectories are produced using an offline Fast Marching Tree (FMT*) planner, while real-time replanning is achieved using an adapted Real-Time FMT algorithm. For …
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Two-Step System Identification and Primitive-Based Motion Planning for Control of Small Unmanned Aerial Vehicles
This dissertation addresses motion planning, modeling, and feedback control for autonomous vehicle systems. A hierarchical approach for motion planning and control of nonlinear systems operating in obstacle environments is presented. To reduce computation time during the motion planning process, …
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A Greedy Search Algorithm for Maneuver-Based Motion Planning of Agile Vehicles
… a greedy search algorithm for maneuver-based motion planning of agile vehicles. In maneuver-based motion planning, vehicle maneuvers are solved offline and saved in a library to be used during motion planning. From this library, a tree of possible vehicle states can be generated through the …
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Self-Assembling Modular Systems: Enhancing Efficiency and Accuracy in Robotic Lattice Assembly
… magnetic lead screws, capable of general linear motion and of cooperating with other modular elements to rearrange modules. Lastly, this thesis introduces an assembly robot named Belty, equipped with proprioceptive actuators that feature large-diameter, high-torque-density brushless motors and …
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A Low-Cost Unmanned Aerial Vehicle Research Platform: Development, Modeling and Advanced Control Implementation
… in real-time from a library of pre-specified motion primitives and hence are not known a priori. Two concatenated primitive trajectories are considered: one formed from seven primitives exhibiting a figure-8 geometric path and another composed of a Split-S maneuver that settles into a …
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Graph Neural Networks for Multi-Robot Coordination
… imitation learning to approximate optimal motion primitives, thereby predicting the effective cost-to-go (to the target). Our experiments demonstrated its generalizability in guiding robots in previously unseen environments with various sensor layouts. Vanilla GNN-based decentralized path …
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Learning-based control of a cyberoctopus
… demonstrates refined manipulation and locomotion tasks in real-time, with potential applications in underwater exploration, search and rescue operations, and manufacturing processes.