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Adaptive Torque Control of a Robotic Manipulator
(2016-09-02)
In this thesis, I present the theory and application of enabling intuitive control and physical interaction between a human operator and a mobile manipulator. To do so, the model of the manipulator was estimated for its ...
FLEXIBLE-CONTINUUM ROBOT FOR BLADDER TISSUE DIAGNOSTICS
(2017-09-14)
The aim of this thesis is to investigate and develop a robotic system capable of a transurethral
palpation of any targeted area on the bladder interior wall tissue to determine the biomechanical properties of the tissue ...
Language Pre-Training and Auxiliary Tasks for Vision and Language Navigation
(2022-01-06)
The Vision and Language Navigation task came to life from the idea that we can build a robot or an autonomous system that can be instructed in human language and that will navigate using the instructions given. For example, ...
COMPLIANT ROBOT MANIPULATOR FOR TRANSURETHRAL DIAGNOSIS
(2023-06-15)
**Please note that the full text is embargoed until 6/14/2025** ABSTRACT: Minimally invasive procedures employ continuum manipulators, however, the internal human anatomy presents challenges relating to size, dexterity, ...