Theses and Dissertations from UMD

Permanent URI for this communityhttp://hdl.handle.net/1903/2

New submissions to the thesis/dissertation collections are added automatically as they are received from the Graduate School. Currently, the Graduate School deposits all theses and dissertations from a given semester after the official graduation date. This means that there may be up to a 4 month delay in the appearance of a give thesis/dissertation in DRUM

More information is available at Theses and Dissertations at University of Maryland Libraries.

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Author: search.filters.author.Meehan, Charles AnthonySubject: search.filters.subject.MBSE

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    Model-Based Systems Engineering Applied to the Detection and Correction of Object Slippage Within a Dexterous Robotic Hand from the Laboratory to Simulation
    (2020) Meehan, Charles Anthony; Baras, John S; Systems Engineering; Digital Repository at the University of Maryland; University of Maryland (College Park, Md.)
    Now more than ever, it is important to have the ability to replicate robotic tasks in simulation and be able to validate the simulation against stakeholder requirements and verify the simulation against simulation requirements. In a previous study, a five-fingered robotic hand, the Shadow Dexterous Hand, with haptic BioTac SP sensors attached was used to detect the moment of slip of an object from the robotic hand while weight was continuously being added and stop the object from falling from the grasp while not overcorrecting. This work was accomplished by Dr. Zhenyu Lin, Dr. John S. Baras, and the author in the Autonomy Robotics Cognition Laboratory at the University of Maryland. This thesis will present the use of Model-Based System Engineering techniques to replicate the detection and correction of object slippage by a five-fingered robotic hand using force feedback control in simulation.