Hardware and software systems for personal robots
Abstract/Contents
- Abstract
- Robots play a major role in precision manufacturing, continually performing economically justifiable tasks with superhuman speed and reliability. In contrast, deployments of advanced personal robots in home or office environments have been stymied by difficult hardware and software challenges. Among many others, these challenges have included cost, reliability, perceptual capability, and software interoperability. This thesis will describe a series of hardware and software systems designed in response to these challenges and towards the long-range goal of creating general-purpose robots that will be useful and practical in everyday environments. First, several low-cost robot subsystems will be described, including systems for indoor localization, short-range object recognition, and inertial joint encoding, as demonstrated on prototype low-cost manipulators. Next, the design of a low-cost, highly capable robotic hand will be described in detail, which incorporates all of the aforementioned hardware and software subsystems. Finally, the thesis will describe a robot software system developed for the STanford AI Robot (STAIR) project, and its evolution into the Robot Operating System (ROS), a widely used robot software framework designed to ease collaboration between disparate research communities to create integrative, embodied AI systems.
Description
| Type of resource | text |
|---|---|
| Form | electronic; electronic resource; remote |
| Extent | 1 online resource. |
| Publication date | 2012 |
| Issuance | monographic |
| Language | English |
Creators/Contributors
| Associated with | Quigley, Morgan Lewis |
|---|---|
| Associated with | Stanford University, Computer Science Department |
| Primary advisor | Ng, Andrew Y, 1976- |
| Thesis advisor | Ng, Andrew Y, 1976- |
| Thesis advisor | Abbeel, Pieter |
| Thesis advisor | Salisbury, J. Kenneth |
| Advisor | Abbeel, Pieter |
| Advisor | Salisbury, J. Kenneth |
Subjects
| Genre | Theses |
|---|
Bibliographic information
| Statement of responsibility | Morgan L. Quigley. |
|---|---|
| Note | Submitted to the Department of Computer Science. |
| Thesis | Thesis (Ph.D.)--Stanford University, 2012. |
| Location | electronic resource |
Access conditions
- Copyright
- © 2012 by Morgan Lewis Quigley
- License
- This work is licensed under a Creative Commons Attribution Non Commercial 3.0 Unported license (CC BY-NC).
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