Faculty Advisor

Bitar, Stephen John

Faculty Advisor

Fichera, Loris

Faculty Advisor

Li, Zhi

Abstract

From industrial robots to nursing robots, object manipulation has become a growing area of robotics research. This Major Qualifying Project explores methods of teleoperation through the use of a wireless data glove able to detect multiple degrees of freedom. Our project also explored methods for autonomous control. We developed a computer vision model by integrating two state-of-the-art Mask Region Convolutional Neural Networks (Mask-RCNN) models to create a final model for determining both object location and grasp angle. This modeling allows the Baxter Robot to autonomously detect and reach towards the object. Using learning by demonstration, the robot can learn how to grasp and manipulate said objects.

Publisher

Worcester Polytechnic Institute

Date Accepted

April 2019

Major

Computer Science

Major

Robotics Engineering

Major

Electrical and Computer Engineering

Project Type

Major Qualifying Project

Accessibility

Unrestricted

Advisor Department

Electrical and Computer Engineering

Advisor Department

Computer Science

Advisor Department

Mechanical Engineering

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