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Master thesis, Master thesis, Peg-in-hole, Future Work - Coggle Diagram
Master thesis
Introduction
Literature review
Methodology
Experiment
Results
Conclusion and discussion
References
Master thesis
Part 3
Projects and Implementations
Haptic device examples
Adding wall or barrier
Implementing force field
Adding anchor pole as a magnet
Connecting andcontrolling kuka iiwa robot
Connection with Ros
Simulation with gazebo
Simulation on moveit
Using different communication protocol
Communication throught docker container
Bilateral Teleoperation for 2 haptic device
Using force feedback
As a master slave devices
Bilateral Teleoperation for 2 Kuka robots
Using position control
Using impedance control mode
Teleoperating cable driven robot
Connection and communication
Controling from terminal
Controling using touch with velocity control
Object detection and recognition
Using Ml models and Yolov5
Using classical computer vision
Pick and place task
Using touch haptic device
Communication with unity and Virtual Reality
Simulation in moveit and gazebo
Peg-in-hole task
Automatic
With force torque sensor
Using detection algorithims
Teleoperated
W/o force feedback
User interfere anytime
Learned from demonestration
Using kinesthetic
Using teleop data with diff user experience
Shared autonomy
Authority distribution
Recording from user demos
Part 2
Design components for Robotic Tele-operation
Hardware description
Kuka Robot arm
Camera
Touch Haptic device
Software description
ROS
OpenHaptics
Sunrise OS
Unity VR
Docker
Part 1
Preliminaries and state of the art
Preliminaries
Literature review
Telerobotics
Brief history
Range of application
System architecture
Shared Autonomy
Human robot interaction
Shared control
Level of authority
Introduction
Research goals and problem description
Thesis structure or outline
Part 3
Haptic shared control with partial authority
Shared control application
Conclusion and future work
Peg-in-hole
!control methods
Literature
Previous works
Camera detection
Assembly algorithim
Results and performacnce
Future Work
Teleoperation
Time Delay
Faster Update rate
HRI
Virtual Reality
Better Feedback
LfD
Reinforcement Learning
Simulation
Autonomous mode
Searching Algorithim
Detection using DL