Scientific Publications
Peer reviewed scientific articles
List of peer reviewed publications
As an academic scholar, dissemination of my research findings are an important activity. For this, I focus on top tier peer reviewed scientific articles. Below you will find a list of all my peer reviewed scientific publications including conference proceedings, journal articles and books.
2014
Tiwari, Kshitij
Co-operative manipulation with robots Masters Thesis
School of Informatics, 2014.
Abstract | Links | BibTeX | Tags: Cobots
@mastersthesis{Tiwari2014cooperative,
title = {Co-operative manipulation with robots},
author = {Kshitij Tiwari},
url = {https://rad.inf.ed.ac.uk/rad-people.html},
year = {2014},
date = {2014-01-01},
urldate = {2014-01-01},
institution = {Institute of Perception, Action and Behaviour (IPAB), University of Edinburgh},
school = {School of Informatics},
abstract = {This MSc thesis aims at presenting the work done in the field of human robot collaborations. In this project, the author(s) aimed to develop a symbiotic setup in which a humanoid robot named Baxter was used in order to help a human disassemble a CPU Chassis. In the given time frame, the task of pulling out a PCB from the chassis was realised. In this project, we utilised two types of grippers to be able to retrieve the PCB. We used a vacuum cup gripper and a electric parallel gripper for this task. By means of this project, we coupled visual servoing tasks with co-operative manipulation in order to give the robots the ability to work in unison with a human worker. While this makes the life of human worker easier, it also means they can improve the efficacy at work and especially in a task like disassembly this would eventually lead to cost-effective disassembly procedures. This project is stepping stone towards the development of a work station whereby the human works with a robot as opposed of current scenarios whereby a robot works completely autonomously without any interaction with humans. This would help us overcome the current limitation of AI whereby the algorithms are not robust enough to allow the robot to perform all tasks by itself.},
keywords = {Cobots},
pubstate = {published},
tppubtype = {mastersthesis}
}
This MSc thesis aims at presenting the work done in the field of human robot collaborations. In this project, the author(s) aimed to develop a symbiotic setup in which a humanoid robot named Baxter was used in order to help a human disassemble a CPU Chassis. In the given time frame, the task of pulling out a PCB from the chassis was realised. In this project, we utilised two types of grippers to be able to retrieve the PCB. We used a vacuum cup gripper and a electric parallel gripper for this task. By means of this project, we coupled visual servoing tasks with co-operative manipulation in order to give the robots the ability to work in unison with a human worker. While this makes the life of human worker easier, it also means they can improve the efficacy at work and especially in a task like disassembly this would eventually lead to cost-effective disassembly procedures. This project is stepping stone towards the development of a work station whereby the human works with a robot as opposed of current scenarios whereby a robot works completely autonomously without any interaction with humans. This would help us overcome the current limitation of AI whereby the algorithms are not robust enough to allow the robot to perform all tasks by itself.