Grid Inference and Partial Scan Registration for
Intelligent Collaborative Robot Systems
Name
chen-vkchen-meng-eecs-2023-thesis.pdf
Description
Thesis PDF
Size
9.48 MB
Format
Adobe PDF
Checksum (MD5)
4c2b694c366852bb3232660c50f386bf
Author(s)
Chen, Valerie K.
Advisor(s)
Shah, Julie A.
Gruenstein, Joshua
Date Issued
June 2023
Publisher
Massachusetts Institute of Technology
Abstract
This thesis proposes advancement of the collaborative and intelligent abilities of Tutor Intelligence robot systems through leveraging the geometry of array structures to perform online inference of object locations and registering partial in-hand scans to automatically orient objects. This research will automate portions of the data annotation process required for the robots’ deep intelligence, enabling the collaborative robot systems to more efficiently and effectively perform pick-and-place tasks. Evaluation is conducted through an exploratory pilot study, and further design recommendations are given.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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