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Robotics Engineering
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Push Recovery Control of Bipedal Robots
Keyword:
Null-Space Method
,
Center of Mass (CoM)
,
Sliding Mode Control SMC
,
Center of Pressure (CoP)
,
Push Recovery Control
, and
Momentum-Based Balance Control
Creator:
Al-Tameemi, Ibrahim Salman Hussein
Advisor:
Agheli Hajiabadi, Mohammad Mahdi
Publisher:
Worcester Polytechnic Institute
Date Created:
2023-12-13
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Robotics Engineering
Estimation-based Safety-Critical Control of Multi-Agent Robotic Systems
Keyword:
Control Lyapunov Function
,
Formation Control
,
Control Barrier Function
,
Multi-Agent Robotic Systems
,
Safety-Critical Controller Design
, and
Adaptive Cruise Control for Autonomous Vehicles
Creator:
Bohara, Vishrut
Advisor:
Farzan, Siavash
Publisher:
Worcester Polytechnic Institute
Date Created:
2023-12-18
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Robotics Engineering
Intelligent Control of Soft Snake Robot Locomotion with Biomimic Vertebrate System
Keyword:
Bio-inspired control
,
Neural oscillators
,
Snake robots locomotion
,
Tactile sensors
,
Reinforcement learning
, and
Soft robot control
Creator:
Liu, Xuan
Advisor:
Onal, Cagdas D.
and
Fu, Jie
Publisher:
Worcester Polytechnic Institute
Date Created:
2023-12-04
Resource Type:
Dissertation
Degree:
PhD
Unit (Department):
Robotics Engineering
Making Concentric Tube Robots More Accessible: An Open-Source Platform with Easy-to-Source Components and Guided Learning Materials
Keyword:
open source
,
concentric tube robot
,
surgical robot
, and
continuum robot
Creator:
Bonofiglio, Kalina
Advisor:
Lewin, Greg
,
Fichera, Loris
, and
Agheli Hajiabadi, Mohammad Mahdi
Publisher:
Worcester Polytechnic Institute
Date Created:
2023-12-08
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Robotics Engineering
Learning Modular Robotic Control via Reinforcement Learning using Attention based Global State Prediction
Keyword:
Reinforcement Learning
,
Legged Robotics
,
Communication
,
Modular Robotics
, and
Coordination
Creator:
Francis, Brian
Advisor:
Bloom, Josh
and
Pinciroli, Carlo
Publisher:
Worcester Polytechnic Institute
Date Created:
2023-12-12
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Robotics Engineering
MagFlex: An Electromagnetic Soft Actuator for Safe Human-Robot Interaction
Creator:
Elbayoumi, Merna
Advisor:
Onal, Cagdas
Publisher:
Worcester Polytechnic Institute
Date Created:
2023-12-13
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Robotics Engineering
Real-time and Customizable Inverse Kinematics for Extensible Multisection Continuum Robots: SLInKi and AMoRPH Algorithms
Keyword:
Continuum
,
Inverse Kinematics
, and
Soft Robotics
Creator:
Chiang, Shou-Shan
Advisor:
Onal, Cagdas
Publisher:
Worcester Polytechnic Institute
Date Created:
2023-12-15
Resource Type:
Dissertation
Degree:
PhD
Unit (Department):
Robotics Engineering
Robot Autonomy for Scrap Cutting in Metal Recycling
Keyword:
Human–robot collaboration
,
Robot autonomy
,
Future of work
,
Metal scrap recycling
,
Oxy-fuel metal cutting
, and
Environmental robotics
Creator:
Akl, James
Advisor:
Calli, Berk
Publisher:
Worcester Polytechnic Institute
Date Created:
2023-04-15
Resource Type:
Dissertation
Degree:
PhD
Unit (Department):
Robotics Engineering
SiPA: Spider-inspired Pneumatic Actuator as a Programmable Modular Soft Robotic Building Block
Keyword:
Re-Configureable
,
Pneumatic
,
Modular
,
Spider-Inspired
,
Actuator
, and
Soft Robotics
Creator:
Muralt, Arnold
Advisor:
Onal, Cagdas
,
Telliel, Yunus Dogan
, and
Agheli Hajiabadi, Mohammad Mahdi
Publisher:
Worcester Polytechnic Institute
Date Created:
2023-04-21
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Robotics Engineering
Continuous Coverage Motion Planning on 3D Freeform Surfaces
Keyword:
Human-Robot Interaction
,
Coverage Path Planning
,
UV Mapping
, and
Constrained Motion Planning
Creator:
McGovern, Sean
Advisor:
Xiao, Jing
Publisher:
Worcester Polytechnic Institute
Date Created:
2023-08-11
Resource Type:
Dissertation
Degree:
PhD
Unit (Department):
Robotics Engineering
Intuitive Teleoperation of a Robotic Arm and Gripper with Soft Pneumatic Haptic Feedback
Keyword:
Soft Robotics
,
Robot Arm Teleoperation
, and
Human-Robot Interaction
Creator:
Rameshwar, Raagini
Advisor:
Onal, Cagdas
Publisher:
Worcester Polytechnic Institute
Date Created:
2023-08-11
Resource Type:
Dissertation
Degree:
PhD
Unit (Department):
Robotics Engineering
Multi-Level Semantic SLAM
Keyword:
Semantic SLAM
,
Inspection
,
Mapping
,
SLAM
, and
Airplane
Creator:
Krueger, Karter
Advisor:
Xiao, Jing
Publisher:
Worcester Polytechnic Institute
Date Created:
2023-03-09
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Robotics Engineering
Redesign of HURON Humanoid Robot Ankle Mechanism and Weight Optimization Techniques
Keyword:
HURON
,
Humanoid Robot
,
Robotic Design
,
Mechanical Design
, and
Humanoid Ankle
Creator:
Hanscom, Aislin
Advisor:
Agheli Hajiabadi, Mohammad Mahdi
Publisher:
Worcester Polytechnic Institute
Date Created:
2023-04-23
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Robotics Engineering
Human-Robot Interfaces to Enable Effective and Effortless Control for Remote Manipulation of Tele-nursing Robot
Keyword:
Remote Manipulation
,
Tele-nursing Robot
,
Human-robot Interaction
,
Workload Estimation
,
Control Augmentation
, and
Robot Reliability
Creator:
Lin, Tsung-Chi
Advisor:
Li, Jane
Publisher:
Worcester Polytechnic Institute
Date Created:
2023-04-25
Resource Type:
Dissertation
Degree:
PhD
Unit (Department):
Robotics Engineering
Improving the User Experience and Features of PMKS+: A Web-Based Linkage Analysis Tool for Education
Keyword:
User experience evaluation
,
User interface design
,
Web-based linkage tool
,
PMKS+
,
Web-based kinematic simulator
, and
Planar linkage analysis
Creator:
Kadoya, Kohmei
Advisor:
Bertozzi, Nicholas
,
Radhakrishnan, Pradeep
,
Ebadi, Alireza
, and
Brown, David C.
Publisher:
Worcester Polytechnic Institute
Date Created:
2023-05-05
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Robotics Engineering
Optimizing Automated Manufacturing Processes Using Axiomatic Design Methods
Keyword:
Process Design
,
Maufacturing
,
Engineering Design Theory
,
Robotics
,
Automation
, and
Axiomatic Design
Creator:
Browne, Michael
Advisor:
Towner, Walter Thomas
Publisher:
Worcester Polytechnic Institute
Date Created:
2023-05-11
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Robotics Engineering
Decentralized Multi-Agent Reinforcement Learning for Collective Transport
Keyword:
Swarm Robotics
,
Multi-Agent Reinforcement Learning
,
Reinforcement Learning
,
Decentralized System
, and
Collective Transport
Creator:
Mukherjee, Apratim
Advisor:
Pinciroli, Carlo
Publisher:
Worcester Polytechnic Institute
Date Created:
2023-05-06
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Robotics Engineering
Perception-Driven Robotic Manipulation and Motion Planning for Packaging of Dynamic Compressible Objects
Keyword:
novel pneumatic gripper design
,
compressible objects
,
perception
,
manipulation
,
motion planning
, and
servoing
Creator:
Venkataramanan, Rohith
Advisor:
Farzan, Siavash
Publisher:
Worcester Polytechnic Institute
Date Created:
2023-05-05
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Robotics Engineering
Optimal Control and Reinforcement Learning for Stochastic Systems under Temporal Logic Specifications
Keyword:
Reinforcement Learning
,
Optimal Control
,
Temporal Logic
,
Formal Methods
,
Robotics
, and
Markov Decision Process
Creator:
Li, Lening
Advisor:
Fu, Jie
Publisher:
Worcester Polytechnic Institute
Date Created:
2022-12-12
Resource Type:
Dissertation
Degree:
PhD
Unit (Department):
Robotics Engineering
SoAR (Soft Aerial Robot) – Origami-Inspired Morphing Fuselage Extends Flight Capabilities
Keyword:
Morphing fuselage
,
Soft aerial robot
,
Soft robotics
, and
Deformable flying robot
Creator:
Aihaitijiang, Abudula
Advisor:
Onal, Cagdas
Publisher:
Worcester Polytechnic Institute
Date Created:
2022-12-14
Resource Type:
Dissertation
Degree:
PhD
Unit (Department):
Robotics Engineering
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Unit (Department)
Robotics Engineering
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