Faculty Advisor

Padir, Taskin

Abstract

Humanoid robots have the potential to replace human beings for dangerous tasks, such as disaster relief. One of the most important abilities for a humanoid robot is the ability to manipulate its surroundings. We developed human-in-the-loop techniques for the Atlas platform to compete in the DARPA Robotics Challenge. Many of the tasks in the event required actuation of the environment, such as turning a valve, pulling a lever, and opening a door. This paper will detail our work on manipulation for humanoid robots. In particular, we will discuss our approaches to effective operator interface design, manipulation techniques and motion planning.

Publisher

Worcester Polytechnic Institute

Date Accepted

April 2016

Major

Computer Science

Major

Robotics Engineering

Project Type

Major Qualifying Project

Accessibility

Unrestricted

Advisor Department

Electrical and Computer Engineering

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