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Thesis_v3.pdf (1.79 MB)

ETD Abstract Container

Abstract Header

Creating a Data Acquisition Platform for Robot Skill Training

Nahari, Ammar Jamal
http://orcid.org/0000-0001-9002-2067
http://rave.ohiolink.edu/etdc/view?acc_num=case153260922930446

Abstract Details

2019, Master of Sciences, Case Western Reserve University, EECS - Electrical Engineering.
This thesis describes the creation of a teleoperation system intended for acquiring data suitable for interpreting and teaching human skills to a robot. In the system, a human operator views a 3-D virtual-reality display as transmitted from the robotic system. The operator moves a hand-held controller to move the robot’s end effector and to open/close the gripper. The operator performs teleoperated manipulation tasks while sensory data and command data are logged. Since the logged data includes all sensory information available to the operator and all commands from the operator, the captured data will provide a basis for studying and encoding manipulation strategies suitable for robots.
Wyatt Newman (Committee Chair)
Francis Merat (Committee Member)
Gregory Lee (Committee Member)
80 p.
Robotics
Teleoperation, virtual reality, inverse Jacobians, haptic feedback

Recommended Citations

Citations

  • Nahari, A. J. (2019). Creating a Data Acquisition Platform for Robot Skill Training [Master's thesis, Case Western Reserve University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=case153260922930446

    APA Style (7th edition)

  • Nahari, Ammar. Creating a Data Acquisition Platform for Robot Skill Training. 2019. Case Western Reserve University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=case153260922930446.

    MLA Style (8th edition)

  • Nahari, Ammar. "Creating a Data Acquisition Platform for Robot Skill Training." Master's thesis, Case Western Reserve University, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=case153260922930446

    Chicago Manual of Style (17th edition)

case153260922930446
489
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This open access ETD is published by Case Western Reserve University School of Graduate Studies and OhioLINK.