| Type of Document |
Master's Thesis |
| Author |
Rojas, Juan Luis
|
| Author's Email Address |
Juan.Rojas@Vanderbilt.Edu |
| URN |
etd-04012004-135630 |
| Title |
SENSORY INTEGRATION WITH ARTICULATED MOTION ON A HUMANOID ROBOT |
| Degree |
Master of Engineering |
| Department |
Electrical Engineering |
| Advisory Committee |
| Advisor Name |
Title |
| Alan R. Peters II |
Committee Member |
|
| Keywords |
- coordination
- motor
- sensory
- behaviors
- Robotics
- intelligence.
|
| Date of Defense |
2004-04-02 |
| Availability |
unrestricted |
Abstract
The work in this thesis seeks to integrate the motion of a humanoid robot with its auditory and visual sensory information to achieve various reflex actions that mimic those of people. Such reflexes in the form of reach-grasp behaviors can enable the robot to learn through experience its own state and that of the world. A humanoid robot with auditory capabilities, stereo vision, and artificial pneumatic arms and hands was used to demonstrate tightly coupled sensory-motor behaviors in five different demonstrations. The complexity of succeeding demonstrations was increased to show that the reflexive sensory-motor behaviors combine to perform increasingly complex tasks. The humanoid robot executed these tasks effectively and established the ground-work for the further development of hardware and software systems, sensory-motor vector-space representations, and coupling with higher level cognition.
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| Files |
| Filename |
Size |
Approximate Download Time
(Hours:Minutes:Seconds)
|
| 28.8 Modem |
56K Modem |
ISDN (64 Kb) |
ISDN (128 Kb) |
Higher-speed Access |
| |
Thesis_draft.pdf |
2.30 Mb |
00:10:40 |
00:05:29 |
00:04:48 |
00:02:24 |
00:00:12 |
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