Search
Now showing items 1-10 of 14
Undergraduate Research on Robotics
(Georgia Institute of Technology, 2007-11-26)
An Evaluation of GUI and Kinesthetic Teaching Methods for Constrained-Keyframe Skills
(Georgia Institute of Technology, 2015-08-18)
Keyframe-based Learning from Demonstration has been shown to be an effective method for allowing end-users to teach robots skills. I propose a method for using multiple keyframe demonstrations to learn skills as sequences ...
Robot Calligraphy using Pseudospectral Optimal Control and a Simulated Brush Model
(Georgia Institute of Technology, 2019-12)
Chinese calligraphy is unique and has great artistic value but is difficult to master. In this paper, we make robots write calligraphy. Learning methods could teach robots to write, but may not be able to ...
Learning Rotation-in-Place and Orbiting Policies for a Quadruped Robot
(Georgia Institute of Technology, 2022-05)
Reinforcement learning (RL) algorithms have successfully learned control policies for quadruped locomotion such as walking, rotation, and basic navigation. We utilize Proximal Policy Optimization and iGibson to train a ...
Simulating Assistive Robotics Tasks
(Georgia Institute of Technology, 2020-05)
In this thesis, I summarize two published research papers [1][2] to which I contributed as an undergraduate researcher. My contributions to this research primarily consisted of implementing realistic human joint limitations ...
Validation Testing of Multiple IMUs as Sensors of Joint Angles
(Georgia Institute of Technology, 2021-12)
Hip flexion angles were measured on a subject for both walking and sprinting trials using two different IMUs: Microstrain’s IMU and Adafruit’s BNO055 IMU. These measurements were compared against measurements simultaneously ...
Investigating Sim-to-Real Transfer and Multi-Agent Learning in Assistive Gym
(Georgia Institute of Technology, 2020-12)
As the world's population grows older on average and the number of available caregivers decreases, assistive robotics pose an opportunity for older adults or people with disabilities to continue receiving the care that ...
Reducing Cognitive Load in HRI: A Proposed Research Strategy for the RAIL Lab
(Georgia Institute of Technology, 2019-05)
How can social robotics help reduce cognitive load when humans and robots work together? This document proposes research guidelines for exploring the confluence of human-computer interaction and cognitive load theory. Field ...
Real-time State Estimation for Aggressive Driving Autonomous Ground Vehicles
(Georgia Institute of Technology, 2018-05)
State estimation is an integral part of many robotic systems. It is particularly important in the realm of high performance ground vehicles where systems must be real-time, robust, and accurate. This project aims to tackle ...
Context Aware Policy Selection
(Georgia Institute of Technology, 2020-05)
In of optimal control and reinforcement learning, the difference in the performance of a state-of-the-art policy and a mediocre one is minuscule in comparison to their difference in amortized computational cost. Further, ...