Faculty Advisor or Committee Member

Taskin Padir, Advisor

Faculty Advisor or Committee Member

Michael Gennert, Committee Member

Faculty Advisor or Committee Member

Gregory Fischer, Committee Member

Identifier

etd-043015-085121

Abstract

As the field of autonomous robots continue to advance, there is still a tremendous benefit to research human-supervised robot systems for fielding them in practical applications. The DRC inspired by the Fukushima nuclear power plant disaster has been a major research and development program for the past three years, to advance the field of human supervised control of robots for responding to natural and man-made disasters. The overall goal of the research presented in this thesis is to realise a new approach for semi-autonomous control of the Atlas humanoid robot under discrete commands from the human operator. A combination of autonomous and semi-autonomous perception and manipulation techniques to accomplish the task of detecting, opening and walking through a door are presented. The methods are validated in various different scenarios relevant to DRC door task.

Publisher

Worcester Polytechnic Institute

Degree Name

MS

Department

Robotics Engineering

Project Type

Thesis

Date Accepted

2015-04-30

Accessibility

Unrestricted

Subjects

robot, atlas, perception, door detection, step planning

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