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dc.contributor.authorWittenstein, Nikolaus Adrianen_US
dc.date.accessioned2015-09-18T20:06:07Z
dc.date.available2015-09-18T20:06:07Z
dc.date.issued2015-09-09en_US
dc.identifier.othervt_gsexam:6203en_US
dc.identifier.urihttp://hdl.handle.net/10919/56584
dc.description.abstractOpening a door is still a hard problem in robotics. Many robotic manipulators use open-loop position control to open doors, which reduces reusability and reliability in the face of slight differences or sensor errors. Many others use force feedback or impedance control but skip past the problem of grabbing the handle, which could lead to failures due to sensor errors. This research assumes that perception is faulty, and uses joint-level force feedback to probe the location of the door and its handle before attempting to open it. The resulting control strategy is at least 33% faster than the open-loop control system it replaces, and had an 83% success rate during testing in place of the previous method's 60% success rate.en_US
dc.format.mediumETDen_US
dc.publisherVirginia Techen_US
dc.rightsThis Item is protected by copyright and/or related rights. Some uses of this Item may be deemed fair and permitted by law even without permission from the rights holder(s), or the rights holder(s) may have licensed the work for use under certain conditions. For other uses you need to obtain permission from the rights holder(s).en_US
dc.subjectforce feedbacken_US
dc.subjectdoor openingen_US
dc.subjectmobile manipulatoren_US
dc.subjectimpedance controlen_US
dc.subjectguarded moveen_US
dc.titleForce  Feedback for  Reliable Robotic Door Openingen_US
dc.typeThesisen_US
dc.contributor.departmentMechanical Engineeringen_US
dc.description.degreeMaster of Scienceen_US
thesis.degree.nameMaster of Scienceen_US
thesis.degree.levelmastersen_US
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen_US
thesis.degree.disciplineMechanical Engineeringen_US
dc.contributor.committeechairLattimer, Brian Y.en_US
dc.contributor.committeememberLeonessa, Alexanderen_US
dc.contributor.committeememberFurukawa, Tomonarien_US


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