Service robotics thesis

Service robotics thesis

Thanks for helping me and my friends with college papers! You have the best essay writers really. And it’s amazing how you deal with urgent orders! When I picked a 3 hour deadline, I didn’t believe you’d make it on time. But you did! And saved my Phd Thesis On Robotics And Mechatronics life:) They know Service Robotics Thesis what kind of paper will meet the requirements of your Service Robotics Thesis instructor and bring you the desired grade. They follow your instructions and make sure a thesis statement and Service Robotics Thesis topic sentences are designed in compliance with the standard guidelines The International Federation of Robotics defines service robotics as “a robot that performs useful tasks for humans or equipment excluding industrial automation application.”2 While in general, industrial robots tend to be large arms or gantries and service robots tend to be smaller and mobile, the definition has

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direkt zum Inhalt springen. direkt zum Hauptnavigationsmenü. of Computer Engineering and Microelectronics Robotics and Biology Laboratory.

This thesis contributes to algorithmic approaches for the motion generation problem for service robotics thesis manipulators. This problem is unsolved in unstructured environments, where the robot does not have access to precise models but must infer the state of the world with its sensors. The challenges for motion generation in these problems arise from the uncertainty prevalent in real world sensors, service robotics thesis, service robotics thesis different modalities that need to be considered, and real time constraints.

Our approach in this thesis is to combine local feedback control with global planning under uncertainty to solve three different applications in manipulation. Proteins are involved in almost all functions in our cells due to their ability to combine conformational motion with chemical specificity.

Hence, information about the motions of a protein provides insights into its function. Proteins move on a rugged energy landscape with many local minima, which is imposed on their high-dimensional conformational space. Exhaustive sampling of this space exceeds the available computational resources for all but the smallest proteins. The accuracy of the approximation depends on the accuracy of the used information.

Information that is specific to the problem domain, i. protein motion in our case, service robotics thesis, usually results in better models. In this thesis, I propose a novel elastic network model of learned maintained contacts, lmcENM. This improves the general applicability of elastic network models.

Grasping is a crucial skill for any autonomous system that needs to alter the physical world. The complexity of robot grasping stems from the fact that any solution comprises various components: Hand design, service robotics thesis, control, perception, and planning all affect the success of a grasp.

Apart from picking solutions in well-defined industrial scenarios, general grasping in unstructured environment is still an open problem, service robotics thesis. In this thesis, we exploit two general properties to devise grasp service robotics thesis algorithms: the compliance of robot hands and the stiffness of the environment that surrounds an object. The investigations and planning algorithms show that exploiting compliance in hands and stiffness service robotics thesis the environment leads to improved grasp performance.

Intelligent robots must be able to learn; they must be able to adapt service robotics thesis behavior based on experience. But generalization from past experience is only possible based on assumptions or prior knowledge priors for short about how the world works.

I study the role of these priors for learning perception. Although priors play a central role in machine learning, they are often hidden in the details of learning algorithms.

By making these priors explicit, we can see that currently used priors describe the world from the perspective of a passive disinterested observer. Such generic AI priors are useful because they apply to perception scenarios service robotics thesis there is no robot, such as image classification. These priors are still useful for learning robotic perception, but they miss an important aspect of the problem: the robot. In this thesis we study robot perception to support a specific type of manipulation task in unstructured environments, the mechanical manipulation of kinematic degrees of freedom.

We propose a general approach for interactive perception and instantiations of this approach into perceptual systems to build kinematic, geometric and dynamic models of articulated objects, service robotics thesis. Reinforcement learning is a computational framework that enables machines to learn from trial-and-error interaction with the environment.

In recent years, reinforcement learning has been successfully applied to a wide variety of problem domains, including robotics. However, the success of the reinforcement learning applications in robotics relies on a variety of assumptions, such as the availability of large amounts of training data, highly accurate models of the robot and the environment as well as prior knowledge about the task.

Raphael Deimel's thesis reconsiders hand design from the perspective of providing first and foremost robust and reliable grasping, instead of precise control of posture and simple mechanical modelabilty. This results in a fundamentally different manipulator hardware, so called soft hands, that are made out of rubber and fibers which make them highly adaptable. His thesis covers not only hand designs, but also provides an elaborate collection of methods to design, simulate and rapidly prototype soft robots, referred to as the "PneuFlex toolkit".

Three-dimensional protein structures are an invaluable stepping stone towards the understanding of cellular processes. Not surprisingly, state-of-the-art structure prediction methods heavily rely on information. We demonstrate that these information sources allow improved structure prediction and the reconstruction of human serum albumin domain structures from experimental data collected in its native environment, human blood serum.

The key features of this system are service robotics thesis high degree of immersion into the computer generated virtual environment and a large working volume. The high degree of immersion will be achieved by multimodal human-exoskeleton interaction based on haptic effects, audio and three- dimensional visualization. The large working volume will be achieved by a lightweight wearable construction that can be carried on the back of the user.

more to: Multimodal human computer interaction in virtual realities based on an exoskeleton. Computationally efficient motion planning mus avoid exhaustive exploration of high-dimensional configuration spaces by leveraging the structure present in real-world planning problems.

We argue that this can be accomplished most effectively by carefully balancing exploration and exploitation. Exploration seeks to understand configuration space, irrespective of the planning problem, and exploitation acts to solve the problem, given the available information obtained by exploration. The planner acquires workspace information and subsequently uses this information for exploitation in configuration space.

If exploitation fails in difficult regions service robotics thesis planner gradually shifts to its behavior towards exploration. This thesis develops robotic skills for manipulating novel articulated objects. The degrees of freedom of an articulated object describe the relationship among its rigid bodies, and are often relevant service robotics thesis the object's intended function. Examples of everyday articulated objects include scissors, pliers, service robotics thesis, doors, door handles, books, and drawers.

Autonomous manipulation of articulated objects is therefore a prerequisite for many robotic applications in our everyday environments. The most significant impediment for protein structure prediction is the inadequacy of conformation space search. Conformation space is too large and the energy landscape too rugged for existing search methods to consistently find near-optimal minima. Robots already impact the way we understand our world and live our lives.

However, their impact and use is limited by the skills they possess. Currently deployed autonomous robots lack the manipulation skills possessed by humans. To achieve general autonomy and applicability in the real world, robots must possess such skills. Robots should be able to examine and understand previously unseen kinematic structures, such as the furniture and devices in a kitchen.

What are good strategies for a robot to explore its environment? Could we learn something service robotics thesis biological behavior to improve this aspect of our robots? In a collaboration with colleagues from Vienna, we try to understand how Cockatoos can learn to solve multi-step kinematic puzzles by building models of the birds' behavior.

more to: Modelling and Understanding Cockatoo's Mechanical Problem Solving Behavior. When we build soft robotic grippers, we draw inspiration from the compliance and softness of the human hand. But what service robotics thesis the human hand one of the most powerful tools is it's tactile sense.

Since the sensors that are established in rigid robotics an not applicable to soft actuators, we have to take a look at new materials and new fabrication methods. In this thesis, we want to present one possible way to introduce tactile sensing to service robotics thesis soft actuator without restricting its dexterous behavior, using the RBO Hand 3 actuator as an example.

more to: A Fabric Based Tactile Sensor for Soft Robotics. Robot hands are one of the most important but also most complex parts of a robot system. In the field of soft robotics, service robotics thesis, service robotics thesis goal is to design robot hands that resemble the human hand and can adapt their capabilities. Especially important is the ability to manipulate objects in the hand, the so-called in-hand manipulation, service robotics thesis.

But to carry out in-hand service robotics thesis complex movements are required. In order to be able to execute these movements, we would like to teleoperate the RBO-Hand 3 with a data glove. The aim of this thesis is to remotely control a soft pneumatically operated robot hand developed by the department with the help of a data glove in order to be able to carry out in-hand manipulations and to perform experiments on in-hand manipulation with the RBO-Hand 3.

more to: Teleoperation of a Soft Robotic Hand with a Dataglove. Sensors are an important part of any robot control system. While soft pneumatic actuators can't use most sensors from service robotics thesis robotics, they exhibit properties that make new sensing modalities possible. The air inside the air chamber of a pneumatic actuator conducts sound and this sound carries information about where it originated and which path it traveled. The RBO Hand 2 is a highly compliant soft robotic hand.

Its actuators passively adapt their shape to different objects and the environment. Even though the control of the pneumatic hand is relatively simple, it is capable of complex in-hand manipulation. The recent addition of liquid metal strain sensors has created the opportunity to obtain better feedback about the current state of the hand. In this thesis, we pick the task of "wiggling" a pen between the fingers and show that data from the strain sensors can be used to classify the position of the pen within the hand.

Using a open-loop correction movement, service robotics thesis, the pen position can be adjusted service robotics thesis it drops from the hand. We also showed the possibility of closed-loop control using the strain sensor measurements as the current state and service robotics thesis commands of the pneumatic actuators as actions. more to: Learning a Repetitive In-Hand Manipulation Task on the Sensorized RBO Hand 2 Using Policy Search.

Learning an internal state based on the observation is an important task in robotics. The sensor inputs are mostly high dimensional and only a small subspace is important for the robot, service robotics thesis.

Previous work presented an unsupervised method training a neural net with a loss composed of robotic priors which has been effective in a markovian observation space. In this thesis, we try to extend this method to work on non markovian observation spaces, service robotics thesis, and train a recurrent network which should transfer the non markovian observations into a internal state space which fulfill the markov property.

For this, we adapt the robotic prios to the new task and evaluate our method in a service robotics thesis experimental setting, service robotics thesis. As a goal, the robot should be able to solve a simple navigation task using only the learned state representation, service robotics thesis.

Classical robotic grasping approaches employ static behaviors: First the service robotics thesis is maneuvered to the object, then the fingers are closed, and finally the hand is retracted from the scene with the grasped object.

On the other hand, humans execute wrist movements concurrently with the fingers closure. They also demonstrate higher performance in terms of stability. I therefore hypothesize that this coordination of wrist and hand would enable robust robotic grasping. To evaluate this hypothesis, I conducted an experiment with seven human subjects grasping a set of seven objects using a robotic hand.

The subjects guided the robotic hand with a handle and closed the fingers at will. Many objects in the real world are articulated objects, service robotics thesis, e.

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