Staff View
Identifying features of legible manipulation paths

Descriptive

TitleInfo
Title
Identifying features of legible manipulation paths
Name (type = personal)
NamePart (type = family)
Zhao
NamePart (type = given)
Min
NamePart (type = date)
1983-
DisplayForm
Min Zhao
Role
RoleTerm (authority = RULIB)
author
Name (type = personal)
NamePart (type = family)
Bekris
NamePart (type = given)
Kostas
DisplayForm
Kostas Bekris
Affiliation
Advisory Committee
Role
RoleTerm (authority = RULIB)
chair
Name (type = personal)
NamePart (type = family)
Stone
NamePart (type = given)
Matthew
DisplayForm
Matthew Stone
Affiliation
Advisory Committee
Role
RoleTerm (authority = RULIB)
internal member
Name (type = personal)
NamePart (type = family)
Torres
NamePart (type = given)
Elizabeth
DisplayForm
Elizabeth Torres
Affiliation
Advisory Committee
Role
RoleTerm (authority = RULIB)
internal member
Name (type = corporate)
NamePart
Rutgers University
Role
RoleTerm (authority = RULIB)
degree grantor
Name (type = corporate)
NamePart
Graduate School - New Brunswick
Role
RoleTerm (authority = RULIB)
school
TypeOfResource
Text
Genre (authority = marcgt)
theses
OriginInfo
DateCreated (qualifier = exact)
2014
DateOther (qualifier = exact); (type = degree)
2014-10
CopyrightDate (encoding = w3cdtf)
2014
Place
PlaceTerm (type = code)
xx
Language
LanguageTerm (authority = ISO639-2b); (type = code)
eng
Abstract (type = abstract)
This work performs an experimental study on the legibility of paths executed by a manipulation arm available on a Baxter robot. In this context, legibility is defined as the ability of people to effectively predict the target of the arm's motion. Paths that are legible can improve the collaboration of robots with humans since they allow people to intuitively understand the robot's intentions. Each experimental trial in this study reproduces manipulator motions to one of many targets in front of the robot. An appropriate experimental setup was developed in order to collect the responses of people in terms of the perceived robot's target during the execution of a trajectory by Baxter. The objective of the experimental setup was to minimize the cognitive load of the human subjects during the collection of data. The extensive experimental data provide insights into the features of motion that make certain paths more legible for humans than other paths. For instance, motions where the end-effector is oriented towards the intended target appear to be better in terms of legibility than alternatives.
Subject (authority = RUETD)
Topic
Computer Science
RelatedItem (type = host)
TitleInfo
Title
Rutgers University Electronic Theses and Dissertations
Identifier (type = RULIB)
ETD
Identifier
ETD_5961
PhysicalDescription
Form (authority = gmd)
electronic resource
InternetMediaType
application/pdf
InternetMediaType
text/xml
Extent
1 online resource (v, 36 p. : ill.)
Note (type = degree)
M.S.
Note (type = bibliography)
Includes bibliographical references
Subject (authority = ETD-LCSH)
Topic
Robotics--Human factors
Subject (authority = ETD-LCSH)
Topic
Robotics--Design and construction
Note (type = statement of responsibility)
by Min Zhao
RelatedItem (type = host)
TitleInfo
Title
Graduate School - New Brunswick Electronic Theses and Dissertations
Identifier (type = local)
rucore19991600001
Location
PhysicalLocation (authority = marcorg); (displayLabel = Rutgers, The State University of New Jersey)
NjNbRU
Identifier (type = doi)
doi:10.7282/T3542Q65
Genre (authority = ExL-Esploro)
ETD graduate
Back to the top

Rights

RightsDeclaration (ID = rulibRdec0006)
The author owns the copyright to this work.
RightsHolder (type = personal)
Name
FamilyName
Zhao
GivenName
Min
Role
Copyright Holder
RightsEvent
Type
Permission or license
DateTime (encoding = w3cdtf); (qualifier = exact); (point = start)
2014-09-30 10:22:51
AssociatedEntity
Name
Min Zhao
Role
Copyright holder
Affiliation
Rutgers University. Graduate School - New Brunswick
AssociatedObject
Type
License
Name
Author Agreement License
Detail
I hereby grant to the Rutgers University Libraries and to my school the non-exclusive right to archive, reproduce and distribute my thesis or dissertation, in whole or in part, and/or my abstract, in whole or in part, in and from an electronic format, subject to the release date subsequently stipulated in this submittal form and approved by my school. I represent and stipulate that the thesis or dissertation and its abstract are my original work, that they do not infringe or violate any rights of others, and that I make these grants as the sole owner of the rights to my thesis or dissertation and its abstract. I represent that I have obtained written permissions, when necessary, from the owner(s) of each third party copyrighted matter to be included in my thesis or dissertation and will supply copies of such upon request by my school. I acknowledge that RU ETD and my school will not distribute my thesis or dissertation or its abstract if, in their reasonable judgment, they believe all such rights have not been secured. I acknowledge that I retain ownership rights to the copyright of my work. I also retain the right to use all or part of this thesis or dissertation in future works, such as articles or books.
Copyright
Status
Copyright protected
Availability
Status
Open
Reason
Permission or license
Back to the top

Technical

RULTechMD (ID = TECHNICAL1)
ContentModel
ETD
OperatingSystem (VERSION = 5.1)
windows xp
Back to the top
Version 8.5.5
Rutgers University Libraries - Copyright ©2024