國立虎尾科技大學 |

Autonomous Behaviors with a Legged Robot.

Record Type:	Language materials, manuscript : Monograph/item
Title/Author:	Autonomous Behaviors with a Legged Robot./
Author:	Ilhan, B. Deniz.
Description:	1 online resource (175 pages)
Notes:	Source: Dissertation Abstracts International, Volume: 79-10(E), Section: B.
Contained By:	Dissertation Abstracts International79-10B(E).
Subject:	Robotics. -
Online resource:	click for full text (PQDT)
ISBN:	9780438036383

Autonomous Behaviors with a Legged Robot.
Ilhan, B. Deniz.

Autonomous Behaviors with a Legged Robot. - 1 online resource (175 pages)

Source: Dissertation Abstracts International, Volume: 79-10(E), Section: B.

Thesis (Ph.D.)--University of Pennsylvania, 2018.

Includes bibliographical references

Over the last ten years, technological advancements in sensory, motor, and computational capabilities have made it a real possibility for a legged robotic platform to traverse a diverse set of terrains and execute a variety of tasks on its own, with little to no outside intervention. However, there are still several technical challenges to be addressed in order to reach complete autonomy, where such a platform operates as an independent entity that communicates and cooperates with other intelligent systems, including humans. A central limitation for reaching this ultimate goal is modeling the world in which the robot is operating, the tasks it needs to execute, the sensors it is equipped with, and its level of mobility, all in a unified setting. This thesis presents a simple approach resulting in control strategies that are backed by a suite of formal correctness guarantees. We showcase the virtues of this approach via implementation of two behaviors on a legged mobile platform, autonomous natural terrain ascent and indoor multi-flight stairwell ascent, where we report on an extensive set of experiments demonstrating their empirical success. Lastly, we explore how to deal with violations to these models, specifically the robot's environment, where we present two possible extensions with potential performance improvements under such conditions.

Electronic reproduction.
Ann Arbor, Mich. :
ProQuest,
2018

Mode of access: World Wide Web

ISBN: 9780438036383Subjects--Topical Terms:

561941
Robotics.
Index Terms--Genre/Form:

554714
Electronic books.

Autonomous Behaviors with a Legged Robot.
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100 1 $a Ilhan, B. Deniz. $3 1191061
245 1 0 $a Autonomous Behaviors with a Legged Robot.
264 0 $c 2018
300 $a 1 online resource (175 pages)
336 $a text $b txt $2 rdacontent
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500 $a Source: Dissertation Abstracts International, Volume: 79-10(E), Section: B.
500 $a Advisers: Daniel E. Koditschek; Alejandro Ribeiro.
502 $a Thesis (Ph.D.)--University of Pennsylvania, 2018.
504 $a Includes bibliographical references
520 $a Over the last ten years, technological advancements in sensory, motor, and computational capabilities have made it a real possibility for a legged robotic platform to traverse a diverse set of terrains and execute a variety of tasks on its own, with little to no outside intervention. However, there are still several technical challenges to be addressed in order to reach complete autonomy, where such a platform operates as an independent entity that communicates and cooperates with other intelligent systems, including humans. A central limitation for reaching this ultimate goal is modeling the world in which the robot is operating, the tasks it needs to execute, the sensors it is equipped with, and its level of mobility, all in a unified setting. This thesis presents a simple approach resulting in control strategies that are backed by a suite of formal correctness guarantees. We showcase the virtues of this approach via implementation of two behaviors on a legged mobile platform, autonomous natural terrain ascent and indoor multi-flight stairwell ascent, where we report on an extensive set of experiments demonstrating their empirical success. Lastly, we explore how to deal with violations to these models, specifically the robot's environment, where we present two possible extensions with potential performance improvements under such conditions.
533 $a Electronic reproduction. $b Ann Arbor, Mich. : $c ProQuest, $d 2018
538 $a Mode of access: World Wide Web
650 4 $a Robotics. $3 561941
655 7 $a Electronic books. $2 local $3 554714
690 $a 0771
710 2 $a ProQuest Information and Learning Co. $3 1178819
710 2 $a University of Pennsylvania. $b Electrical and Systems Engineering. $3 1189698
773 0 $t Dissertation Abstracts International $g 79-10B(E).
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=10786569 $z click for full text (PQDT)