As the field of autonomous robots continue to advance, there is still a tremendous benefit to research human-supervised robot systems for fielding them in practical applications. The DRC inspired by the Fukushima nuclear power plant disaster has been a major research and development program for the past three years, to advance the field of human supervised control of robots for responding to natural and man-made disasters. The overall goal of the research presented in this thesis is to realise a new approach for semi-autonomous control of the Atlas humanoid robot under discrete commands from the human operator. A combination of autonomous and semi-autonomous perception and manipulation techniques to accomplish the task of detecting, opening and walking through a door are presented. The methods are validated in various different scenarios relevant to DRC door task.
| Identifer | oai:union.ndltd.org:wpi.edu/oai:digitalcommons.wpi.edu:etd-theses-1583 |
| Date | 30 April 2015 |
| Creators | Banerjee, Nandan |
| Contributors | Taskin Padir, Advisor, Michael A. Gennert, Committee Member, Gregory S. Fischer, Committee Member |
| Publisher | Digital WPI |
| Source Sets | Worcester Polytechnic Institute |
| Detected Language | English |
| Type | text |
| Format | application/pdf |
| Source | Masters Theses (All Theses, All Years) |
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