{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/97491"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/97491","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"An embodied, platform-invariant architecture for robotic spatial commands","abstract":"In contexts such as teleoperation, robot reprogramming, and human-robot-interaction, and neural prosthetics, conveying spatial commands to a robotic platform is often a limiting factor. Currently, many applications rely on joint-angle-by-joint-angle prescriptions. This inherently requires a large number of parameters to be specified by the user that scales with the number of degrees of freedom on a platform, creating high bandwidth requirements for interfaces. This thesis presents an efficient representation of high-level, spatial commands that specifies many joint angles with relatively few parameters based on a spatial architecture. To this end, an expressive command architecture is 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. Further, this architecture is platform- invariant where the same high-level, spatial command can have meaning on any platform. This has the particular advantage that our commands have meaning for human movers as well. In order to achieve this, we draw inspiration from Laban/Bartenieff Movement Studies, an embodied taxonomy for movement description. The final architecture is implemented for twenty-six spatial directions on a Rethink Robotics Baxter and an Aldebaran NAO. Two user studies have been conducted to validate the effectiveness of the proposed framework. Lastly, a workload metric is proposed to quantitative assess the usability of a machine interface.","abstract_html":"In contexts such as teleoperation, robot reprogramming, and human-robot-interaction, and neural prosthetics, conveying spatial commands to a robotic platform is often a limiting factor. Currently, many applications rely on joint-angle-by-joint-angle prescriptions. This inherently requires a large number of parameters to be specified by the user that scales with the number of degrees of freedom on a platform, creating high bandwidth requirements for interfaces. This thesis presents an efficient representation of high-level, spatial commands that specifies many joint angles with relatively few parameters based on a spatial architecture. To this end, an expressive command architecture is 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. Further, this architecture is platform- invariant where the same high-level, spatial command can have meaning on any platform. This has the particular advantage that our commands have meaning for human movers as well. In order to achieve this, we draw inspiration from Laban/Bartenieff Movement Studies, an embodied taxonomy for movement description. The final architecture is implemented for twenty-six spatial directions on a Rethink Robotics Baxter and an Aldebaran NAO. Two user studies have been conducted to validate the effectiveness of the proposed framework. Lastly, a workload metric is proposed to quantitative assess the usability of a machine interface.","abstract_has_math":false,"creators":["Jang Sher, Anum"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"M.S.","degree_level":"Thesis","degree_discipline":"Mechanical Engineering","degree_department":null,"school":null,"contributors":["LaViers, Amy"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2017,"date_issued":"2017-08-10T19:16:13Z","date_published":"2017-08-10T19:16:13Z","updated_at":"2026-07-22T22:24:34Z","subjects":["Teleoperation","Human-robot interaction","Laban"],"languages":["en"],"rights":["Copyright 2017 Anum Jang Sher"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/2142/97491","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["LaViers, Amy"]},{"key":"dc:creator","label":"Author","values":["Jang Sher, Anum"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2017-08-10T19:16:13Z","2017-04-26","2017-05"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["M.S."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Teleoperation","Human-robot interaction","Laban"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2017 Anum Jang Sher"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/2142/97491"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["In contexts such as teleoperation, robot reprogramming, and human-robot-interaction, and neural prosthetics, conveying spatial commands to a robotic platform is often a limiting factor. Currently, many applications rely on joint-angle-by-joint-angle prescriptions. This inherently requires a large number of parameters to be specified by the user that scales with the number of degrees of freedom on a platform, creating high bandwidth requirements for interfaces. This thesis presents an efficient representation of high-level, spatial commands that specifies many joint angles with relatively few parameters based on a spatial architecture. To this end, an expressive command architecture is 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. Further, this architecture is platform- invariant where the same high-level, spatial command can have meaning on any platform. This has the particular advantage that our commands have meaning for human movers as well. In order to achieve this, we draw inspiration from Laban/Bartenieff Movement Studies, an embodied taxonomy for movement description. The final architecture is implemented for twenty-six spatial directions on a Rethink Robotics Baxter and an Aldebaran NAO. Two user studies have been conducted to validate the effectiveness of the proposed framework. Lastly, a workload metric is proposed to quantitative assess the usability of a machine interface.","Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2017-08-10 without embargo terms","The student, Anum Jang Sher, accepted the attached license on 2017-04-26 at 10:50.","The student, Anum Jang Sher, submitted this Thesis for approval on 2017-04-26 at 10:58.","This Thesis was approved for publication on 2017-04-26 at 15:48.","DSpace SAF Submission Ingestion Package generated from Vireo submission #11084 on 2017-08-10 at 13:46:37","Made available in DSpace on 2017-08-10T19:16:13Z (GMT). No. of bitstreams: 2 JANGSHER-THESIS-2017.pdf: 6858711 bytes, checksum: 2e74108474cd69d7827bdb94122adc38 (MD5) LICENSE.txt: 4211 bytes, checksum: 8544d0bbaf1d80f5da1e8245a3bceca9 (MD5) Previous issue date: 2017-04-26"]},{"key":"dc:format","label":"Dc Format","values":["application/pdf"]},{"key":"dc:title","label":"Title","values":["An embodied, platform-invariant architecture for robotic spatial commands"]}]}],"canonical_facts":{"dc:contributor":["LaViers, Amy"],"dc:creator":["Jang Sher, Anum"],"dc:date":["2017-08-10T19:16:13Z","2017-04-26","2017-05"],"dc:description":["In contexts such as teleoperation, robot reprogramming, and human-robot-interaction, and neural prosthetics, conveying spatial commands to a robotic platform is often a limiting factor. Currently, many applications rely on joint-angle-by-joint-angle prescriptions. This inherently requires a large number of parameters to be specified by the user that scales with the number of degrees of freedom on a platform, creating high bandwidth requirements for interfaces. This thesis presents an efficient representation of high-level, spatial commands that specifies many joint angles with relatively few parameters based on a spatial architecture. To this end, an expressive command architecture is 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. Further, this architecture is platform- invariant where the same high-level, spatial command can have meaning on any platform. This has the particular advantage that our commands have meaning for human movers as well. In order to achieve this, we draw inspiration from Laban/Bartenieff Movement Studies, an embodied taxonomy for movement description. The final architecture is implemented for twenty-six spatial directions on a Rethink Robotics Baxter and an Aldebaran NAO. Two user studies have been conducted to validate the effectiveness of the proposed framework. Lastly, a workload metric is proposed to quantitative assess the usability of a machine interface.","Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2017-08-10 without embargo terms","The student, Anum Jang Sher, accepted the attached license on 2017-04-26 at 10:50.","The student, Anum Jang Sher, submitted this Thesis for approval on 2017-04-26 at 10:58.","This Thesis was approved for publication on 2017-04-26 at 15:48.","DSpace SAF Submission Ingestion Package generated from Vireo submission #11084 on 2017-08-10 at 13:46:37","Made available in DSpace on 2017-08-10T19:16:13Z (GMT). No. of bitstreams: 2 JANGSHER-THESIS-2017.pdf: 6858711 bytes, checksum: 2e74108474cd69d7827bdb94122adc38 (MD5) LICENSE.txt: 4211 bytes, checksum: 8544d0bbaf1d80f5da1e8245a3bceca9 (MD5) Previous issue date: 2017-04-26"],"dc:format":["application/pdf"],"dc:identifier":["http://hdl.handle.net/2142/97491"],"dc:language":["en"],"dc:rights":["Copyright 2017 Anum Jang Sher"],"dc:subject":["Teleoperation","Human-robot interaction","Laban"],"dc:title":["An embodied, platform-invariant architecture for robotic spatial commands"],"dc:type":["text"],"thesis:degree_discipline":["Mechanical Engineering"],"thesis:degree_level":["Thesis"],"thesis:degree_name":["M.S."],"thesis:institution_name":["University of Illinois at Urbana-Champaign"]},"updated_at":"2026-07-22T22:24:34Z"}