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CREATED:20220711T194048Z
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SUMMARY:MEAM Ph.D. Thesis Defense: "The Design of a Community-Informed Socially Interactive Humanoid Robot and End-effectors for Novel Edge-Rolling"
DESCRIPTION:This dissertation discusses my work in building an HRI platform called Quori and my once separate now integrated work on a manipulation method that can enable robots like Quori\, or any more capable robot\, to move large circular cylindrical objects. \nQuori is a novel\, affordable\, socially interactive humanoid robot platform for facilitating noncontact human-robot interaction (HRI) research. The design of the system is motivated by feedback sampled from the HRI research community. The overall design maintains a balance of affordability and functionality. Ten Quori platforms have been awarded to a diverse group of researchers from across the United States to facilitate HRI research to build a community database from a common platform. \nThis dissertation concludes with a demonstration of Quori transporting a large cylinder for which Quori does not have the power to lift nor the range of motion to dexterously manipulate. Quori is able to achieve this otherwise insurmountable tasks through a novel robotic manipulation technique called robotic edge-rolling. Edge-rolling refers to transporting a cylindrical object by rolling on its circular edge\, as human workers maneuver a gas cylinder on the ground for example. This robotic edge-rolling is achieved by controlling the object to roll on the bottom edge in contact with the ground\, and to slide on the surface of the robot’s end-effector. It can thus be regarded as a form of robotic dexterous\, in-hand manipulation with nonprehensile grasps. This work mainly addresses the problem of grasp planning for edge-rolling by studying how to design appropriately shaped end-effectors with zero internal mobility and how to find feasible grasps for stably rolling the object with the simple end-effectors.
URL:https://seasevents.nmsdev7.com/event/meam-ph-d-thesis-defense-the-design-of-a-community-informed-socially-interactive-humanoid-robot-and-end-effectors-for-novel-edge-rolling/
LOCATION:Room 337\, Towne Building\, 220 South 33rd Street\, Philadelphia\, PA\, 19104\, United States
ORGANIZER;CN="Mechanical Engineering and Applied Mechanics":MAILTO:meam@seas.upenn.edu
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