Now showing items 1-5 of 5
A path planning and obstacle avoidance hybrid system using a connectionist network
Automated path planning and obstacle avoidance has been the subject of intensive research in recent times. Most efforts in the field of semiautonomous mobile-robotic navigation involve using Artificial Intelligence search ...
A modular fingertip design for normal force feedback control of a 3-fingered dextrous robotic hand
Despite the advances in dextrous hand mechanics over the past decade, fingertip force remains predominantly controlled by flexor cable tension and joint position. A modular fingertip normal force sensor is developed here ...
Development of sensors and algorithms for automating robotic grasping
The difficulty of locating and grasping a target via a robot functioning as a remote teleoperator varies with the operator's perspective of the target area and the skill of the operator. To limit the amount of time and ...
Genetic algorithm tuning of a fuzzy logic controller for a dynamic system
This thesis describes the use of the genetic algorithm to facilitate the design process of a fuzzy logic based controller. The basic mechanics of both the fuzzy logic control system and the genetic algorithm are presented ...
Kinematic analysis and trajectory control of the Rice omni-directional mobile robot (Rice University, Texas)
The forward/inverse kinematics, trajectory planning and control system for a mobile omni-directional robot are analyzed and implemented. For kinematic analysis each wheel of the robot has been modeled as a "higher pair" ...