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Fall 2017

Perez Quintero, Camilo A

In recent years, robots have started to migrate from industrial to unstructured human environments, some examples include home robotics, search and rescue robotics, assistive robotics and service robotics. However, this migration has been at a slow pace and with only a few successes. One key...

Spring 2016

Ramirez, Oscar A

When controlling dynamic systems such as robots a big challenge lies in defining how the desired actions will be accomplished. In industrial settings automation has been possible due to the structured and predictable environments. The repeatability of the tasks makes it viable to manually...

Fall 2015

Sherstan, Craig

The control of powered prosthetic arms has been researched for over 50 years, yet prosthetic control remains an open problem, not just from a research perspective, but from a clinical perspective as well. Significant advances have been made in the manufacture of highly functional prosthetic...

Spring 2012

Hernandez Herdocia, Alejandro

This dissertation has two main contributions, a modular design of a mobile manipulator and a set of tele-operation performance experiments using this platform. To experimentally evaluate system performance and operator preferences, several tests were designed: 1) Which robot camera placement...

Fall 2012

Shademan, Azad

Many robotic systems are required to operate in unstructured environments. This imposes significant challenges on algorithm design. Particularly, motion control and planning algorithms should be robust to noise and outliers, because uncertainties are inevitable. In addition, independence from...

Fall 2021

Jiang, Chen

In Activities of Daily Living (ADLs), humans perform thousands of arm and hand object manipulation tasks, such as picking, pouring and drinking a drink. Interpreting such tasks and grasping the underlying concepts of manipulation from vision is straightforward for humans, but difficult for...