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.

Creator

• Banerjee, Nandan

Colaboradores

• Fischer, Gregory S.
• Gennert, Michael A.
• Padir, Taskin

Degree

• MS

Unit

• Robotics Engineering

Publisher

• Worcester Polytechnic Institute

Language

• English

Identifier

• etd-043015-085121

Palabra Clave

• Atlas
• Robot
• Perception
• door detection
• step planning

Advisor

• Padir, Taskin

Committee

• Fischer, Gregory S.
• Gennert, Michael A.

Defense date

• 2015-04-21

Year

• 2015

Date created

• 2015-04-30

Resource type

• Thesis

Rights statement

• In Copyright