| Author: | Yu, Haohang |
| Title: | SENTRA one : development of an autonomous robotic intelligent control platform |
| Advisors: | Niu, Shuangxia (EEE) |
| Degree: | M.Sc. |
| Year: | 2026 |
| Department: | Department of Electrical and Electronic Engineering |
| Pages: | x, 104 pages : color illustrations |
| Language: | English |
| Abstract: | This dissertation presents SENTRA One. SENTRA One is a mobile manipulator robot with a 4WD mecanum chassis, a 6-DoF arm, and sensors. The project aims to build a platform that fits many scenes, such as indoor tasks and outdoor tasks. The system uses a layered design. A central SystemController manages the chassis, arm, and gripper. It checks each command and it keeps the control mode clear. The robot uses LiDAR and IMU SLAM to estimate pose and to build a 3D map for navigation. The robot uses YOLOv8 and an RGB-D camera to detect objects and to compute 3D target positions. The project also includes a teaching system. A user can record a motion, add a short description, and save it as a skill. The robot can reuse the skill with a new target by using a pointing method on joint J1. An LLM agent gives a task interface. The agent turns user text into tool calls for perception and skills. The SystemController gates these tool calls, so the LLM does not touch low-level hardware control directly. Watchdog limits stop the chassis on timeouts. Experiments show mapping, driving, object detection, and skill execution on the real robot. This design reduces manual scripting and links perception to action across scenes. |
| Rights: | All rights reserved |
| Access: | restricted access |
Files in This Item:
| File | Description | Size | Format | |
|---|---|---|---|---|
| 8887.pdf | For All Users (off-campus access for PolyU Staff & Students only) | 65.4 MB | Adobe PDF | View/Open |
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