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Thesis
Door Opening by a Miniature Humanoid Robot
Master of Science (M.S.), Drexel University
May 2014
DOI:
https://doi.org/10.17918/etd-4491
Abstract
Robots working in human environments will often encounter tasks like cleaning apartments/o ce oors, cooking food, moving heavy items, etc. To perform such high level tasks, robots must be capable of executing lower level tasks such as collision avoidance, climbing stairs, passing through doors, etc. This thesis attempts to address one of the aforementioned tasks; approaching and opening a door. The door opening task have been extensively researched with mobile manipulators, but these robots lack capabilities to maneuver a human centric environment that is lled with elements like staircases and uneven terrains. Humanoid robots, on the other hand, are designed to have anthropomorphic structure giving them the capability to navigate through such elements and perform tasks with higher dexterity. The door opening task is performed with a miniature humanoid robot, DARwIn-OP. A pre- planned trajectory method is developed to test the capability of the robot to perform the task. A trajectory is planned on simulation and then tested on the hardware platform. A semi-autonomous method is also developed to perform the task. 2D and 3D computer vision algorithms aid the robot to detect and approach the door autonomously. Then, a human operator controls the robot to perform the door opening task. Video feed from the robot's vision system is utilized to carryout the task. The performance of the semi-autonomous method was compared with a complete tele-operated approach and similar success rates were observed.
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Details
- Title
- Door Opening by a Miniature Humanoid Robot
- Creators
- Bharadwaj Ramesh - DU
- Contributors
- Paul Yu Oh (Advisor) - Drexel University (1970-)
- Awarding Institution
- Drexel University
- Degree Awarded
- Master of Science (M.S.)
- Publisher
- Drexel University; Philadelphia, Pennsylvania
- Resource Type
- Thesis
- Language
- English
- Academic Unit
- College of Engineering (1970-2026); Electrical (and Computer) Engineering [Historical]; Drexel University
- Other Identifier
- 4491; 991014632827704721