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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
PMKS+: A Tool to Analyze and Synthesize Planar Mechanisms
Creator:
Galvan, Alexander
Advisor:
Bertozzi, Nicholas
,
Brown, David C.
, and
Radhakrishnan, Pradeep
Publisher:
Worcester Polytechnic Institute
Date Created:
2022-10-03
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Robotics Engineering
A Remote Teleoperation of the da Vinci Surgical System for Hand Disabled
Keyword:
motion capture
,
robotic surgical system
,
ROS
,
signal processing
,
remote teleoperation
, and
electromyography
Creator:
Yang, Kehan
Advisor:
Fischer, Gregory S.
Publisher:
Worcester Polytechnic Institute
Date Created:
2022-05-28
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Robotics Engineering
Formation-centric software interface
Keyword:
user interface
,
robot formations
,
programming
, and
swarm robotics
Creator:
Walia, Rohan
Advisor:
Pinciroli, Carlo
Publisher:
Worcester Polytechnic Institute
Date Created:
2022-06-16
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Robotics Engineering
Modular Continuum Mobile Robot: Design, Modeling, and Motion Planning
Keyword:
Bioinspired Locomotion
,
Motion Planning
,
Simulation
,
Soft Robotics
,
Continuum Robot
, and
Mobile Robot
Creator:
Sun, Yinan
Advisor:
Onal, Cagdas
Publisher:
Worcester Polytechnic Institute
Date Created:
2022-08-10
Resource Type:
Dissertation
Degree:
PhD
Unit (Department):
Robotics Engineering
MRI Compatible Piezoelectric Actuator Development and Towards Application Based Simulation
Creator:
Zhao, Zhanyue Jimmy
Advisor:
Fischer, Gregory S.
Publisher:
Worcester Polytechnic Institute
Date Created:
2022-08-13
Resource Type:
Dissertation
Degree:
PhD
Unit (Department):
Robotics Engineering
Coarse Exogenous Fault Detection in Multi-Robot Systems using Variational Autoencoders and Normalizing Flows
Keyword:
multi-robot systems
,
variational autoencoders
,
fault detection
, and
normalizing flows
Creator:
Jawahar, Pratik
Advisor:
Pinciroli, Carlo
Publisher:
Worcester Polytechnic Institute
Date Created:
2022-08-17
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Robotics Engineering
Development of a Lower Limb Exoskeleton and Application of Learning from Demonstrations for Controllers
Keyword:
Open source
,
Lower Limb Exoskeletons
,
Cooperative Controllers
,
Learning from Demonstration
, and
Motion Capture
Creator:
Goldfarb, Nathaniel
Advisor:
Fischer, Gregory S.
Publisher:
Worcester Polytechnic Institute
Date Created:
2022-03-17
Resource Type:
Dissertation
Degree:
PhD
Unit (Department):
Robotics Engineering
Towards Human-Centered Haptic Shared Autonomy for Assisted Driving Systems
Keyword:
Social navigation
,
Human-vehicle interaction
,
Assisted driving
, and
Shared autonomy
Creator:
Mbanisi, Kenechukwu
Advisor:
Gennert, Michael A.
Publisher:
Worcester Polytechnic Institute
Date Created:
2022-04-27
Resource Type:
Dissertation
Degree:
PhD
Unit (Department):
Robotics Engineering
Buoyancy Based Balloon Altitude Control
Creator:
Mohapatra, Meha
Advisor:
Popovic, Marko B.
Publisher:
Worcester Polytechnic Institute
Date Created:
2022-04-28
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Robotics Engineering
Multi-Modal Transition of a Canine-like Quadruped to a Bipedal State
Keyword:
quadruped
,
path generation
,
flat feet
,
standing
,
multi-modal motion
, and
biped
Creator:
Euredjian, Andrew
Advisor:
Agheli Hajiabadi, Mohammad Mahdi
and
Gennert, Michael A.
Publisher:
Worcester Polytechnic Institute
Date Created:
2022-05-02
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Robotics Engineering
Deep Reinforcement Learning for Intelligent Frontier Ranking in Search-and-rescue Scenarios
Keyword:
Swarm
,
Machine Learning
,
Advantage Actor-Critic
,
Frontier
,
Reinforcement Learning
, and
SLAM
Creator:
Bergeron, Taylor
Advisor:
Pinciroli, Carlo
Publisher:
Worcester Polytechnic Institute
Date Created:
2022-05-02
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Robotics Engineering
A New Stator Design and Validation of Hollow Cylindrical Piezoelectric Motor
Keyword:
FEM Simulation
and
Piezoelectric Actuator
Creator:
Wang, Yang
Advisor:
Fischer, Gregory S.
Publisher:
Worcester Polytechnic Institute
Date Created:
2021-05-04
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Robotics Engineering
A Surgical Planning Toolkit for Robotic Stereotactic Neurosurgery
Keyword:
3D Slicer
,
Surgical Planning Toolkit
,
Neuronavigation
, and
Neurosurgery Robot
Creator:
Kool Rajamani, Dhruv
Advisor:
Fischer, Gregory S.
Publisher:
Worcester Polytechnic Institute
Date Created:
2021-07-12
Resource Type:
Dissertation
Degree:
MS
Unit (Department):
Robotics Engineering
Design and Analysis of Active Vision Methods for Robotic Grasping of Novel Objects
Keyword:
grasp synthesis
,
self-supervised learning
,
active vision
,
benchmarking
, and
reinforcement learning
Creator:
Natarajan, Sabhari
Advisor:
Calli, Berk
Publisher:
Worcester Polytechnic Institute
Date Created:
2021-08-09
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Robotics Engineering
Internal Cognitive Assurance Model for Autonomous Robotic Systems (ICAMARS)
Keyword:
Security
,
Vulnerability
,
Internal Assurance Model
,
Trust Metrics
,
Autonomous Robotic Systems
, and
Bayesian Networks
Creator:
Diluoffo, Vincenzo
Advisor:
Sunar, Berk
and
Michalson, William R.
Publisher:
Worcester Polytechnic Institute
Date Created:
2020-05-04
Resource Type:
Dissertation
Degree:
PhD
Unit (Department):
Robotics Engineering
Autonomous Vision-based Control for Within-hand Manipulation using Variable Friction Fingers
Creator:
Caleb Chanthi Raj, Joshua Amrith Raj
Advisor:
Calli, Berk
Publisher:
Worcester Polytechnic Institute
Date Created:
2020-08-14
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Robotics Engineering
Design and Control of Robotic Systems Using Bio-Inspired Artificial Muscle Recruitment Strategy
Keyword:
Artificial Muscle
,
Bio-Inspired
, and
Compliant Actuator
Creator:
Bowers, Matthew P.
Advisor:
Popovic, Marko B.
Publisher:
Worcester Polytechnic Institute
Date Created:
2021-02-08
Resource Type:
Dissertation
Degree:
PhD
Unit (Department):
Robotics Engineering
Improving Human Performance in Multi-Human Multi-Robot Interaction
Keyword:
Multi-Robot Systems
,
Human-Robot Interaction
,
Multi-Human Interface
, and
Multi-Human Multi-Robot Interaction
Creator:
Patel, Jayam U.
Advisor:
Pinciroli, Carlo
Publisher:
Worcester Polytechnic Institute
Date Created:
2021-02-09
Resource Type:
Dissertation
Degree:
PhD
Unit (Department):
Robotics Engineering
Communication Algorithms for Spatio-Temporal Cooperation in Multi-Robot Systems
Creator:
Majcherczyk, Nathalie
Advisor:
Pinciroli, Carlo
Publisher:
Worcester Polytechnic Institute
Date Created:
2021-02-09
Resource Type:
Dissertation
Degree:
PhD
Unit (Department):
Robotics Engineering
Towards Model Based Conformal Ablation using Robotically Driven Interstitial Ultrasound
Keyword:
Reinforcement Learning
,
Cancer Treatment
,
Robotics
,
Interstitial Ultrasound
,
Conformal Thermal Ablation
, and
MRI Surgical Robotics
Creator:
Gandomi, Katie Y.
Advisor:
Fischer, Gregory S.
Publisher:
Worcester Polytechnic Institute
Date Created:
2021-04-20
Resource Type:
Dissertation
Degree:
PhD
Unit (Department):
Robotics Engineering
Labyrinth Technologies Smart City Integrated Autonomous Microtransit Electric Vehicle
Creator:
Shen, Anqi
Advisor:
Agheli Hajiabadi, Mohammad Mahdi
Publisher:
Worcester Polytechnic Institute
Date Created:
2021-04-20
Resource Type:
Report
Degree:
MS
Unit (Department):
Robotics Engineering
Development of a Customizable Bio-Mechanical Actuated Knee Orthosis for Exoskeletons Thesis
Keyword:
Rehabiliatation
,
Exoskeleton
,
Knee Orthosis
,
Medical Robotics
, and
Paraplegia
Creator:
Tacescu, Alex C.
Advisor:
Fischer, Gregory S.
Publisher:
Worcester Polytechnic Institute
Date Created:
2021-04-29
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Robotics Engineering
A New Mechanics Model for Continuum Notched-Tube Wrists that Accounts for Tendon Friction and Material Nonlinearities
Keyword:
Continuum Robots
,
Steerable Needles
,
Notched-tube Wrists
, and
Surgical Robotics
Creator:
Pacheco, Nicholas E.
Advisor:
Fichera, Loris
Publisher:
Worcester Polytechnic Institute
Date Created:
2021-05-04
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Robotics Engineering
Rectification of Perspective and Scale Distortion in Wound Images and Integrated Evaluation of the SmartWAnDS System
Keyword:
Scale distortion rectification
,
Wound analysis
,
Perspective distortion rectification
,
SmartWAnDS System
,
Spatial Transformation Network (STN)
, and
Integrated Evaluation
Creator:
Raghav, Fnu
Advisor:
Agu, Emmanuel O.
Publisher:
Worcester Polytechnic Institute
Date Created:
2021-05-05
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Robotics Engineering
Making Concentric Tube Robots More Accessible: A New Open-Source Design Made of 3D-Printed and Other Easy-to-Source Materials
Keyword:
Surgical Robotics
,
Educational Prototype
,
Concentric Tube Manipulator
,
Open-source
,
Concentric Tube Robot
, and
3D-Printing
Creator:
d'Almeida, Jesse F.
Advisor:
Fichera, Loris
Publisher:
Worcester Polytechnic Institute
Date Created:
2021-05-05
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Robotics Engineering
Region-Based Planning for a 3D In-Hand Manipulation Platform Leveraging Variable Friction Fingers and External Surfaces
Keyword:
extrinsic dexterity
,
in-hand manipulation
,
variable friction
, and
motion planning
Creator:
Sahin, Alp
Advisor:
Calli, Berk
Publisher:
Worcester Polytechnic Institute
Date Created:
2021-05-06
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Robotics Engineering
Trans-Gravitational Robot (TGR) with Linear and Angular Momentum Control
Keyword:
Microgravity
,
Space Robot
,
Momentum Control
,
Quadruped Robot
,
Center of Mass Control
, and
Obstacle Avoidance
Creator:
Sanchez, Felix A.
Advisor:
Popovic, Marko B.
Publisher:
Worcester Polytechnic Institute
Date Created:
2020-08-12
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Robotics Engineering
Novel Bidirectional Elastic Nonlinear Element (BENE) for Robotic Antagonistic Actuation
Creator:
Florez-Castillo, Juan-Diego
Advisor:
Popovic, Marko B.
Publisher:
Worcester Polytechnic Institute
Date Created:
2020-08-13
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Robotics Engineering
Development of an Automation Platform for Fabric Manipulation and Assembly
Creator:
Briggs, Calum R.
Advisor:
Popovic, Marko B.
Publisher:
Worcester Polytechnic Institute
Date Created:
2020-08-16
Resource Type:
Thesis
Degree:
MS
Unit (Department):
Robotics Engineering
Advancing Technologies for Interventional MRI Robotics with Clinical Applications
Keyword:
MRI Compatible Actuation
,
Piezoelectric Actuators
,
Real-Time Functional MRI
,
Magnetic Resonance Imaging
,
MRI for Closed Loop Rehabilitation
, and
Surgical Robotics
Creator:
Carvalho, Paulo A.
Advisor:
Fischer, Gregory S.
Publisher:
Worcester Polytechnic Institute
Date Created:
2020-03-25
Resource Type:
Dissertation
Degree:
PhD
Unit (Department):
Robotics Engineering
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