Motion Control of a Robotic Arm of a Humanoid Robot with Perspective Difference
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This study examines the feasibility of a motion and haptic integrated system for the purpose of controlling a humanoid robotic arm. An Oculus head-mounted display was integrated to determine if there was an observable difference between third-person and first-person perspective control. We examine different methods of robotic control in humanoid robots and the precedence of head-mounted displays and motion control in current literature, as well as look at vibration as haptic feedback to relay the limitations of the robot. An experiment was completed with the prototype system in which 30 participants were able to complete the given tasks without fail. A learning period was observed when comparing completion times of the first task attempted to subsequent tasks. The majority of participants found the method of control to be intuitive, the inclusion of first-person perspective to be beneficial, and the vibration feedback to be either inconsequential or confusing rather than helpful.
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Copyright © 2016 the author(s). Theses may be used for non-commercial research, educational, or related academic purposes only. Such uses include personal study, research, scholarship, and teaching. Theses may only be shared by linking to Carleton University Institutional Repository and no part may be used without proper attribution to the author. No part may be used for commercial purposes directly or indirectly via a for-profit platform; no adaptation or derivative works are permitted without consent from the copyright owner.
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- 2016
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killby-motioncontrolofaroboticarmofahumanoidrobot_r.pdf | 2023-05-04 | Public | Download |