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Preliminary Implementation of a Modular Control System for Dual-Arm Manipulation with a Humanoid Robot

Verbryke, Matthew R
http://rave.ohiolink.edu/etdc/view?acc_num=ucin1543838768677697

Abstract Details

2018, MS, University of Cincinnati, Engineering and Applied Science: Aerospace Engineering.
Dual-arm robots have several unique capabilities that make them very attractive for many applications, such as task flexibility, and the ability to perform “two-handed” object manipulation tasks that other systems cannot. Additionally, humanoid systems have the ability to access workspaces and use tools designed for humans. However, in order for these dual-arm systems to be utilized in particularly challenging environments – such as human-shared environments, outer space, or disaster zones – these systems will need to become much more capable than they are today. Currently, the control of these systems is made difficult due to their complex planning, dynamics, and control, and current dual-arm robotic systems are nowhere near resilient enough to handle the uncertainty and risk that are found in these use cases. A separate issue (one which is found in other areas of robotics as well) is that the control architectures are seldom shared, and are so specialized and hardcoded to their particular use cases that they cannot be easily reused even when shared. Extensive development effort, therefore, goes into redeveloping new systems for each particular application with limited ability for reuse.
Catharine McGhan, Ph.D. (Committee Chair)
Ou Ma, Ph.D. (Committee Member)
Rajnikant Sharma, Ph.D. (Committee Member)
143 p.
Robots
Dual Arm Manipulation; Robotics; Intelligent Systems; Space Robotics; Control Architecture; Open-Source

Recommended Citations

Citations

  • Verbryke, M. R. (2018). Preliminary Implementation of a Modular Control System for Dual-Arm Manipulation with a Humanoid Robot [Master's thesis, University of Cincinnati]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1543838768677697

    APA Style (7th edition)

  • Verbryke, Matthew. Preliminary Implementation of a Modular Control System for Dual-Arm Manipulation with a Humanoid Robot. 2018. University of Cincinnati, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=ucin1543838768677697.

    MLA Style (8th edition)

  • Verbryke, Matthew. "Preliminary Implementation of a Modular Control System for Dual-Arm Manipulation with a Humanoid Robot." Master's thesis, University of Cincinnati, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1543838768677697

    Chicago Manual of Style (17th edition)

ucin1543838768677697
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© 2018, all rights reserved.
This open access ETD is published by University of Cincinnati and OhioLINK.