Our research primarily focuses on employing WBCs for dynamic motion control of legged robots. However, the use of WBCs for achieving highly dynamic sensor-based motions has been lacking, and our work addresses the technical problems of such and endeavor. As such, WBCs have been deployed recently for controlling humanoid robots. The use of a WBC is appealing due to its ability to coordinate multiple tasks for highly redundant robotic systems. a control algorithm which can find a dynamically-consistent mapping from operational space tasks to joint torques. Here, we explore the robot’s legged mobility without compromising its dexterity by utilizing a general-purpose whole-body controller (WBC), i.e. Currently, existing locomotion techniques for legged systems are highly specialized and not adaptable to generic robotic structures with manipulation requirements.
One of the unique aspects of this study is the enhancement of locomotion capabilities without compromising the robot’s dexterity. To tackle agility and robustness in legged humanoid robots, I have studied the dynamic whole-body motion control of these kind of robots, with special focus on dynamic locomotion in coordination with whole-body task capabilities. Therefore this thesis is dedicated to investigate the sensor-based control of legged humanoids robots such that they can achieve versatile and high task performance. Legged humanoid robots represent an embodiment of a highly dexterous system which could provide human-like capabilities to boost automated services in human environments. One important obstacle to the adoption of human-centered robots is their limited mobility. At the same time, it is difficult to imagine human-centered robots maintaining infrastructure and providing care as they are not yet versatile enough. It would be hard to imagine factories without robotic arms. Points of focus can include: robotics in health education, robotics in doctors' offices and telehealth, bridging the demand/supply gap for healthcare in underserved areas through robotics, or how robotics can be used to address some of the root causes of healthcare inaccessibility.Industrial robots significantly improve the productivity of manufacturing operations performing various tasks rapidly, accurately, and repeatedly.
This article should discuss how robotics specifically can be used to increase health literacy in underserved populations. However, advancements in technology offer an opportunity to improve healthcare, increase access to it, and improve health literacy for those in underserved areas. Insufficient job security, child care opportunities and transportation availability present significant difficulties for underserved populations."* "Sociocultural factors, including differential environmental exposures, psychological stressors, poor diet and lacking health risk education contribute to disparities across socioeconomic statuses. In relation to healthcare, underserved communities are characterized by inadequate access to and reduced utilization of preventive care and treatment. How Robotics Can Increase Health Literacy in Underserved Populations Data Communication and Human Input Devices.
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