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ETD Abstract Container

Abstract Header

Compliant Behaviors for Remote Robotic Operations

Pokharna, Rahul Kishor
http://rave.ohiolink.edu/etdc/view?acc_num=case1629988409538792

Abstract Details

, Master of Sciences, Case Western Reserve University, EECS - Computer and Information Sciences.
Humanity is expanding its reach into space, underseas, and hostile environments through robotics. It is desired that remote, robotic workers are competent at increasingly sophisticated tasks, including servicing, assembly and manufacturing. A key ingredient in this pursuit is for machines to sense, interpret and respond effectively to contact forces and torques. The present research describes the development and testing of low-level, compliant-motion behaviors for robots performing contact tasks. The behaviors are evaluated in a variety of useful tasks, commanded by a human operator invoking supervisory controls. The approach is shown to be tolerant of communication latencies, and makes the robotic operations inherently safe for the robot and its environment. It is further shown that the human interface is easy to master, and that low-level behaviors can be combined to achieve higher levels of robot autonomy.
Wyatt Newman (Advisor)
Computer Science; Robotics; Robots; Systems Design; Technology
remote operations; compliant behaviors; accommodation control; robotics; robotic arm; compliance; PTWL; RWE; DTP; force feedback; large latencies

Recommended Citations

Citations

  • Pokharna, R. K. (2021). Compliant Behaviors for Remote Robotic Operations [Master's thesis, Case Western Reserve University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=case1629988409538792

    APA Style (7th edition)

  • Pokharna, Rahul. Compliant Behaviors for Remote Robotic Operations. 2021. Case Western Reserve University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=case1629988409538792.

    MLA Style (8th edition)

  • Pokharna, Rahul. "Compliant Behaviors for Remote Robotic Operations." Master's thesis, Case Western Reserve University, 2021. http://rave.ohiolink.edu/etdc/view?acc_num=case1629988409538792

    Chicago Manual of Style (17th edition)

case1629988409538792
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© 2021, all rights reserved.
This open access ETD is published by Case Western Reserve University School of Graduate Studies and OhioLINK.