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 20 of 275 for “"Grasping"”.
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Relatively robust grasping
This thesis presents an approach for grasping objects robustly under significant positional uncertainty. In the field of robot manipulation there has been a great deal of work on how to grasp objects stably, and in the field of robot motion planning there has been a great deal of work on how to …
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Manipulator grasping and pushing operations
Thesis (Ph.D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1982.
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Robotic grasping of Orbital Replacement Units
Thesis (B.S.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1989.
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Grasping complexity: analysing risk for sustainable development
Sustainable development relies on our ability to make decisions today that will determine our tomorrow. Given that uncertainty is explicitly allowed to influence our view of what the future holds for us, most ex ante analyses of challenges for sustainable development can be viewed as analysing …
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Grasping information and collaborating through shape displays
The vision to interact with computers through our whole body - to not only visually perceive information, but to engage with it through multiple senses has inspired human computer interaction (HCI) research for decades. Shape displays address this challenge by rendering dynamic physical shapes …
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Learning a strategy for whole-arm grasping
Traditionally, robot grasping has been approached in two separate phases: first, finding contact positions that yield optimal grasps and, then, moving the robot hand to these positions. This approach works well when the object's location is known exactly and the robot's control is perfect. However, …
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Generating grasping using models based on duality
An object model based on the principle of duality where a plane has a point as a dual and a point has a plane as a dual is presented. Using this representation we present methods for performing intersection detection and face overlap checks to determine if a parallel jaw gripper is in a position to …
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Improving Vision-Based Robotic Grasping for Enhanced Comprehensibility
The objective of vision-based robotic grasping is to determine the parameters of a gripper, including its position, orientation, and opening width, in order to maximize the probability of successfully grasping an object. However, we identified three issues with the current approaches: they neglect …
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Neurophysiological Adaptations to Resistance Training and Repetitive Grasping
Perhaps the most prominent feature of the central nervous system is its ability to respond to experience and its environment. Understanding the processes and mechanisms that govern adaptive behavior provides insights into its plastic nature. Capitalizing on this plasticity is of critical importance …
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Stable and Semantic Robotic Grasping Using Tactile Feedback
This thesis covers two topics of robotic grasping: stable grasping and semantic grasping. The first part of the thesis is dedicated to the stable grasping problem, where we focus on a grasping pipeline that robustly executes a planned-to-be stable grasp under uncertainty. To this end, we first …
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Robust proprioceptive grasping with a soft robot hand
… work presents a soft hand capable of robustly grasping and identifying objects based on internal state measurements along with a combined system which autonomously performs grasps. A highly compliant soft hand allows for intrinsic robustness to grasping uncertainties; the addition of internal …
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Inter-fingercoordinated DC motor driven grasping robotic hand
… of these motions can be approximated by a grasping motion. Implementing PCA results on a humanoid robotic hand yields an inter-finger coordinated motion in which each of the four fingers closes towards the palm and each individual joint's velocity is linearly proportional to the others. The …
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A sensor based strategy for automatic robotic grasping
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1993.
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Hyperspatial Interlace - Grasping Four-dimensional Geometry through Crafted Models
Although our everyday perception of space tells us that it is composed of three spatial dimensions of length, height and width, it is possible to imagine a space having four spatial directions that are exactly identical with respect to each other, and meet at right angles. This concept of a …
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