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Title page for ETD etd-04012004-135630


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
  • Robotics
  • behaviors
  • sensory
  • motor
  • coordination
  • 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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