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dc.rights.licenseRestricted to current Rensselaer faculty, staff and students. Access inquiries may be directed to the Rensselaer Libraries.
dc.contributorWen, John T.
dc.contributorJulius, Anak Agung
dc.contributorWu, Wencen
dc.contributor.authorCunningham, Andrew
dc.date.accessioned2021-11-03T08:48:40Z
dc.date.available2021-11-03T08:48:40Z
dc.date.created2017-07-03T14:13:37Z
dc.date.issued2017-05
dc.identifier.urihttps://hdl.handle.net/20.500.13015/1953
dc.descriptionMay 2017
dc.descriptionSchool of Engineering
dc.description.abstractAssistive robotics technologies have the potential to help a wide range of people with motor and/or cognitive disabilities. In particular, mobile robotic manipulation systems can empower people with motor disabilities by aiding them in performing manipulation-based self care tasks. While mobile manipulation systems are physically capable of performing a wide range of tasks, their ability to carry out these tasks is limited through practical and ease of use constraints. This ease of use problem is only exacerbated in the context of assistive robotics due to the fact users of assistive robots can have physical or neurological disabilities. Further, home environments are almost always stochastic and dynamic which makes reliable mobility challenging. This thesis presents our approach to developing a mobile manipulation system designed for use by quadriplegics to perform manipulation tasks with a particular focus on the probabilistic algorithms and control theory used to drive both the mobile base and manipulators.
dc.language.isoENG
dc.publisherRensselaer Polytechnic Institute, Troy, NY
dc.relation.ispartofRensselaer Theses and Dissertations Online Collection
dc.subjectElectrical engineering
dc.titleControl and state estimation of a mobile assistive robot
dc.typeElectronic thesis
dc.typeThesis
dc.digitool.pid178210
dc.digitool.pid178211
dc.digitool.pid178212
dc.rights.holderThis electronic version is a licensed copy owned by Rensselaer Polytechnic Institute, Troy, NY. Copyright of original work retained by author.
dc.description.degreeMEng
dc.relation.departmentDept. of Electrical, Computer, and Systems Engineering


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