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 36 for “"Robot design"”.
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Robot design for leak detection in water-pipe systems
… detection methods. This thesis is on the design of mobile robotic platform that carries the necessary sensor and travels inside the water pipe systems. To begin with, experiments were carried out to investigate the suitability of using acoustic sensor to detect the leaks and favorable …
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Elastic Cable-Driven Bipedal Walking Robot: Design, Modeling, Dynamics and Controls
… presents a novel approach of an actuation system design for bipedal robotic walkers. The new actuation system concept is, to a certain extent, a biomimetic solution based on biological walkers. It consists of using elastic cables to actuate a bipedal walking robot, where the motors, which are used …
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Characterization and analysis of an MRI compatible robot design for wrist psychophysics and rehabilitation
The MIT Wrist Robot has demonstrated the effectiveness of robotic therapy in aiding the rehabilitation of stroke victims. In order to investigate the neurological processes involved in this therapy and evaluate its effectiveness a patented MRI compatible version of the wrist robot is being …
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Enhancing Quadruped Robot Design With Intelligent Physics-Informed Neural Network-Assisted Dynamic State Estimation and Active Spine Integration
… represents my master's work on quadrupedal robot systems at the Autonomous System Laboratory, University of Nevada, Reno. It primarily focuses on the intelligent design of quadruped robots and unmanned vehicles. The intelligence in these designs stems from advanced state estimation …
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Co-Optimization and Co-Learning Methods for Automated Design of Rigid and Soft Robots
… swim. Compared with their biological brethren, robotic "life" lacks rich dexterity or economy of motion, and their plainly simple designs indicate room for improvement. Unfortunately, a major barrier to creating similarly adept robots is the design process itself. Each aspect of robot design, …
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Towards Computational Design of Shape and Control for Rigid Robots
Designing a performing robotic system for given tasks is traditionally labor-intensive for finding the optimal configurations of its hardware shape and/or software controller. The underlying coupling of the hardware shape and the software control of a robot results in an enormous parameter space …
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Bridging Design and Perception: Novel Tools and Technologies for Creating Effective Human-Robot Interactions
<p>This thesis explores human perception of robots through the use of novel tools and technologies. First, the impact of Augmented Reality (AR) data presentation on human perception of robots is investigated. A study conducted with the AR human-robot teaming system found that robot performance …
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Multi-Objective Bilevel Bayesian optimization for robot and behavior co-design
Traditionally, the robot design process is based on the trial-and-error approach that involves repeated cycles of design, prototyping, and evaluation. During the process, the robot designer should tackle multiple objectives, which are commonly in conflicting relationships. Furthermore, the robot …
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Exploring the Design, Use and Impact of Companion Pet Robots and Automata for Older Adults and People with Dementia
Companion robots, socially assistive robots typically possessing zoomorphic features, have shown potential in the care of older adults and people with dementia. Previous research demonstrated reduced agitation, anxiety, loneliness and blood pressure for older adults, and reduced carer burden. …
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Differentiable Simulation Methods for Robotic Agent Design
Designing robots with extreme performance in a given task has long been an exciting research problem drawing attention from researchers in robotics, graphics, and artificial intelligence. As a robot is a combination of its hardware and software, an optimal robot requires both an excellent …
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How do we design robots equitably?: Engaging design justice, design fictions, and co-design in human-robot interaction design and policymaking processes
Robots are in their infancy engaging in our social spaces and we are faced with new perplexing and complex questions and challenges, such as how will these technologies create or further entrench inequities in society, which stakeholders have a say in technology development or policy development, …
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Computational design of foldable robots via composition
… in rapid fabrication technologies have given designers the ability to manufacture increasingly complex geometries with little increase in cost, making it easier than ever to build a robot. However, the process of designing a functional robot remains challenging. Robots are complex systems that …
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Robot Graph Grammars: Towards Custom Robots for Every Task
As robots find broader applications outside factory floors, they face an increasing number of challenges. For example, they must accommodate rugged terrain, limited battery capacity, and complex dynamics. Existing robots are largely designed by hand to meet a given set of specifications. While …
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Artificial Neural Network-Based Robotic Control
… recognition and, with increasing importance, robotics. This paper demonstrates continuous control of a robot using the deep deterministic policy gradients (DDPG) algorithm, an actor-critic reinforcement learning strategy, originally conceived by Google DeepMind. After training, the robot …
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Bio-inspired design of an aerial-terrestrial multi-modal robot
This thesis is about the design and performance of a multi-modal robot capable of aerial and terrestrial locomotion. Versatile multi-modal robots are favorable for their wide range of operational environments. Although several multi-modal robotic platforms have been built, their performances in two …
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The design process for wheel-robot integration
In this thesis, the design process for wheel-robot integration was documented and reflected on. The project focused on redesigned certain aspects a half-scale wheel-robot to be integrated with a half-scale CityCar prototype being built by the MIT Media Lab's Smart Cities Group. Primary attention …
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Improved Friction and Dynamics Estimation in Legged Robots
Reducing the Sim-to-Real gap between robot simulation and robot performance could lead to improved and more efficient robot design through more accurate controls and design testing in simulation and through more accurate state detection for model-based control architectures. This work built upon …
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Morpho : a self-deformable modular robot inspired by cellular structure
In this paper, we present a modular robot design inspired by the creation of complex structures and functions in biology via deformation. Our design is based on the Tensegrity model of cellular structure, where active filaments within the cell contract and expand to control individual cell shape, …
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A robot for hand rehabilitation
This thesis describes the design of a robot for hand rehabilitation and is based on earlier work done in the MIT Newman Lab for Biomechanics and Human Rehabilitation. The goal of the new robot described here is to provide rehabilitative therapy to the hand. MIT MANUS is an active therapy device …
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A Hybrid Tracking Approach for Autonomous Docking in Self-Reconfigurable Robotic Modules
Active docking in modular robotic systems has received a lot of interest recently as it allows small versatile robotic systems to coalesce and achieve the structural benefits of larger robotic systems. This feature enables reconfigurable modular robotic systems to bridge the gap between small agile …
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