PhD Thesis Proposal

Event Location: GHC 8102Abstract: This proposal focuses on dynamic model based state estimation for hydraulic humanoid robots. The goal is to produce state estimates that are robust and achieve good performance when combined with the controller. Three issues are addressed in this proposal. 1. How to handle modelling error using state estimation? 2. How to [...]

Event Location: NSH 3305Abstract: Effective use of Machine Learning to support extracting maximal information from limited sensor data is one of the important research challenges in robotic sensing. This thesis develops techniques for detecting and characterizing patterns in noisy sensor data. Our Bayesian Aggregation (BA) algorithmic framework can leverage data fusion from multiple low Signal-To-Noise [...]

Event Location: GHC 4405Abstract: Given a single image of a scene, humans have few issues answering questions about the 3D structure like “is this facing upwards?” even though mathematically speaking this should be impossible. We have similarly have few issues accounting for this 3D structure in answering viewpoint independent questions like “is this the same [...]

Event Location: NSH 1507Abstract: We present work to transfer decentralized neuromuscular control strategies of human locomotion to powered segmented robotic legs. State-of-the-art robotic locomotion control approaches, like centralized planning and tracking in fully robotic systems and predefined motion pattern replay in prosthetic systems, do not enable the dynamism and reactiveness of able-bodied humans. Animals largely [...]

Event Location: NSH 1507Abstract: As robots become more reliable and user interfaces (UI) become more powerful, human-robot-agent teams are being applied to an increasing number of real world problems. Common areas of interest for these teams include scientific investigation, surveillance, disaster response, and search and rescue. These systems often employ a set of high level [...]

Event Location: GHC 4405Abstract: In recent years, the U.S. educational system has fallen short in training the technology innovators of the future. To do so, we must give students the experience of designing and creating technological artifacts, rather than relegating students to the role of technology consumers, and must provide students with engineering activities that [...]

Event Location: NSH 3305Abstract: This thesis proposal presents an online approach that is based on hierarchical optimization for controlling humanoid robots. While our primary focus is on developing a fast and robust walking system that is able to follow desired footsteps, full body manipulation capability is also achieved. The proposed hierarchical system consists of three [...]

Event Location: NSH 3305Abstract: As social and collaborative robots move into everyday life, the need for algorithms enabling their acceptance becomes critical. The proposed work will create a framework for Expressive Motion generation that allows a robot to use modified task motions to communicate its state naturally and efficiently, including mental state, task state, and [...]

Event Location: GHC 4405Abstract: For robots to be deployable, robot systems need to operate reliably for long periods. Reliable operation requires robots to reason about events that impede task progression. Robots that consider failure recovery strategies are more dependable and robust to unforeseen events. Recovery strategies allow the robot to continue consistent task operation even [...]

Event Location: GHC 4405Abstract: Each year, hybrid vehicles command a larger portion of total vehicles on the road. These vehicles combine multiple sources of energy, such as batteries and gasoline, which have different strengths and weaknesses. Active management of these energy sources can increase vehicle efficiency, longevity, or performance. Optimizing energy management is highly sensitive [...]