2026-09-18T23:55:48Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/386792022-01-13T07:54:29Zcom_1721.1_7582com_1721.1_7581col_1721.1_131022
Rodney A. Brooks.
Edsinger, Aaron Ladd, 1972-
Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science.
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
2007-08-29T20:43:36Z
2007-08-29T20:43:36Z
2007
2007
http://hdl.handle.net/1721.1/38679
164432492
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2007.
Includes bibliographical references (p. 211-228).
Human environments present special challenges for robot manipulation. They are often dynamic, difficult to predict, and beyond the control of a robot engineer. Fortunately, many characteristics of these settings can be used to a robot's advantage. Human environments are typically populated by people, and a robot can rely on the guidance and assistance of a human collaborator. Everyday objects exhibit common, task-relevant features that reduce the cognitive load required for the object's use. Many tasks can be achieved through the detection and control of these sparse perceptual features. And finally, a robot is more than a passive observer of the world. It can use its body to reduce its perceptual uncertainty about the world. In this thesis we present advances in robot manipulation that address the unique challenges of human environments. We describe the design of a humanoid robot named Domo, develop methods that allow Domo to assist a person in everyday tasks, and discuss general strategies for building robots that work alongside people in their homes and workplaces.
by Aaron Ladd Edsinger.
Ph.D.
228 p.
eng
Massachusetts Institute of Technology
M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.
http://dspace.mit.edu/handle/1721.1/7582
Electrical Engineering and Computer Science.
Robot manipulation in human environments
Thesis
application/pdf
Publication
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