Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 12 of 12 for “"Dexterous Manipulation"”.
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Dexterous manipulation with simple grippers
… robots, specially those with simple grippers, to dexterously manipulate an object in a grasp. The dexterity of a robot is not limited to the intrinsic capability of a gripper. The robot can roll the object in the gripper using gravity, or adjust the object's pose by pressing it against a surface, …
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Advancing In-hand Dexterous Manipulation via Machine Learning
… for household tasks. Using tools requires dexterously manipulating everyday objects like hammers, scissors, knives, screwdrivers, etc. While simple for humans, manipulating everyday objects remains a long-standing challenge that requires breakthroughs in robotic hardware, sensing, …
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Robust Dexterous Manipulation Enabled by Learning at Scale inSimulation
… scalable path toward achieving general-purpose dexterous robot manipulation.
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On Human to Robot Skill Transfer for Robust Grasping and Dexterous Manipulation
… particularly in the context of grasping and dexterous manipulation. The issue of efficiently transferring human skill to robot systems is therefore becoming increasingly more important, with approaches ranging from traditional robot programming to task learning with minimal human guidance. …
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Integrated perception, planning and feedback control for generalizable robotic manipulation
Humans can easily adapt their manipulation skills to unseen objects, new environment and different tasks. However, existing robot manipulators are typically limited to known object instance and skill transferring is challenging. In this thesis, we take a step further by formulating a manipulation …
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Soft, round, high resolution tactile fingertip sensors for dexterous robotic manipulation
… the membrane at a point. Finally we perform two dexterous manipulation task with feedback from the sensors in the form of controlled rolling of an object on a support surface, and lid removal off a jar. We also give instructions on how to manufacture the sensor as well as increasing the …
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Planning, Sensing, and Control for Contact-rich Robotic Manipulation with Quasi-static Contact Models
Human-level manipulation is not limited to the finger tips. We use our palms, arms, body and legs to make and break contact with the manipuland whenever and wherever necessary. In contrast, the vast majority of robotic manipulators are artificially divided into a small end effector that makes all …
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Learning task-oriented grasp heuristics from demonstration
When people plan their motions for dexterous work, they implicitly consider the next likely step in the action sequence. Almost without conscious thought, we select a grasp that meets the implicit constraints related to the task to be performed. A robot tasked with dexterous manipulation should …
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Manipulation of unknown objects via contact configuration regulation
In this thesis, we present an approach to robotic manipulation of unknown objects through the regulation of an object's contact configuration: the location, geometry, and mode of all contacts between the object, robot, and environment. A contact configuration constrains the forces and motions that …
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Learning goal-conditioned in-hand object re-orientation
Submission published under a 24 month embargo labeled 'Closed Access', the embargo will last until 2027-08-01
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Learning-based shared control for open world, dexterous robot teleoperation
… humans are extremely adept at a wide variety of manipulation tasks, transferring these skills through a robot has remained an open challenge for over half a century. Given constraints on an operator’s total cognitive load, high degree-of-freedom systems face a tradeoff between flexibility and …