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dc.contributor.advisorSentis, Luisen
dc.creatorWong, Pius Duc-minen
dc.date.accessioned2012-07-30T19:07:35Zen
dc.date.available2012-07-30T19:07:35Zen
dc.date.issued2012-05en
dc.date.submittedMay 2012en
dc.identifier.urihttp://hdl.handle.net/2152/ETD-UT-2012-05-5433en
dc.descriptiontexten
dc.description.abstractRobots have growing potential to enter the daily lives of people at home, at work, and in cities, for a variety of service, care, and entertainment tasks. However, several challenges currently prevent widespread production and use of such human-centered robots. The goal of this thesis was first to help overcome one of these broad challenges: the lack of basic safety in human-robot physical interactions. Whole-body compliant control algorithms had been previously simulated that could allow safer movement of complex robots, such as humanoids, but no such robots had yet been documented to actually implement these algorithms. Therefore a wheeled humanoid robot "Dreamer" was developed to implement the algorithms and explore additional concepts in human-safe robotics. The lower mobile base part of Dreamer, dubbed "Trikey," is the focus of this work. Trikey was iteratively developed, undergoing cycles of concept generation, design, modeling, fabrication, integration, testing, and refinement. Test results showed that Trikey and Dreamer safely performed movements under whole-body compliant control, which is a novel achievement. Dreamer will be a platform for future research and education in new human-friendly traits and behaviors. Finally, this thesis attempts to address a second broad challenge to advancing the field: the lack of standard design methodology for human-centered robots. Based on the experience of building Trikey and Dreamer, a set of consistent design guidelines and metrics for the field are suggested. They account for the complex nature of such systems, which must address safety, performance, user-friendliness, and the capability for intelligent behavior.en
dc.format.mimetypeapplication/pdfen
dc.language.isoengen
dc.subjectHuman-centered roboten
dc.subjectDesign methodologyen
dc.subjectSafetyen
dc.subjectWhole-body compliant controlen
dc.subjectMobile baseen
dc.subjectOmnidirectional wheelen
dc.subjectHumanoiden
dc.subjectRoboticsen
dc.subjectSystem designen
dc.subjectKinematicsen
dc.subjectDynamicsen
dc.subjectBalanceen
dc.subjectSuspensionen
dc.subjectPhysical human-robot interactionen
dc.titleMethodology for creating human-centered robots : design and system integration of a compliant mobile baseen
dc.date.updated2012-07-30T19:08:42Zen
dc.identifier.slug2152/ETD-UT-2012-05-5433en
dc.contributor.committeeMemberDeshpande, Ashishen
dc.description.departmentMechanical Engineeringen
dc.type.genrethesisen
thesis.degree.departmentMechanical Engineeringen
thesis.degree.disciplineMechanical Engineeringen
thesis.degree.grantorUniversity of Texas at Austinen
thesis.degree.levelMastersen
thesis.degree.nameMaster of Science in Engineeringen


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