Compliance-based Affordance Templates for remote mobile manipulation

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dc.contributor.advisorPryor, Mitchell Wayne
dc.contributor.advisorOort, Eric van
dc.creatorElliott, Cassidy Morgan
dc.creator.orcid0000-0003-1202-4539
dc.date.accessioned2021-08-18T16:16:05Z
dc.date.available2021-08-18T16:16:05Z
dc.date.created2020-12
dc.date.issued2020-12-02
dc.date.submittedDecember 2020
dc.date.updated2021-08-18T16:16:05Z
dc.description.abstractThis thesis details the implementation of Affordance Templates with a compliance controller to pseudo-autonomously perform complex contact tasks in industrial environments. Multiple action planning methods were evaluated, and ATs were chosen as the best option for industry use due to their intuitive user interface. Two Affordance Template packages were implemented and evaluated to determine the package best suited for use by novice operators. That package was then implemented in conjunction with a compliance controller in the form of a remote demonstration to showcase reduction in operator cognitive burden by automatically managing contact forces and significant command latency (approx 250 ms) during task performance. The results showed that ATs greatly reduced task execution time and number of errors compared to manual control, with added compliance reducing AT set up time. Finally, this thesis introduces Affordance Primitives, which were created to increase the flexibility of Affordance Templates and present a path for future development in the field of automated task planning.
dc.description.departmentMechanical Engineering
dc.format.mimetypeapplication/pdf
dc.identifier.urihttps://hdl.handle.net/2152/87044
dc.identifier.urihttp://dx.doi.org/10.26153/tsw/13994
dc.language.isoen
dc.subjectRobotics
dc.subjectContact tasks
dc.subjectManipulation
dc.subjectTeleoperation
dc.titleCompliance-based Affordance Templates for remote mobile manipulation
dc.typeThesis
dc.type.materialtext
thesis.degree.departmentMechanical Engineering
thesis.degree.disciplineMechanical Engineering
thesis.degree.grantorThe University of Texas at Austin
thesis.degree.levelMasters
thesis.degree.nameMaster of Science in Engineering

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