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.
Results
Showing 1 to 20 of 54 for “"Grasps"”.
-
Imitation learning of whole-body grasps
… to grasp objects using both hand and whole-body grasps, which use the arms and torso as well as hands. Demonstration grasp trajectories are created by teleoperating a simulated robot to pick up simulated objects, and stored as sequences of keyframes in which contacts with the object are gained or …
-
Cynosure: A theoretical grounding for pictorial language that grasps attention
… grounding for pictorial language that grasps attention in the field of homiletics. The research consists of two parts: theoretical and analytical. The theoretical framework integrates rhetorical, homiletical, and neuroscience theory to explain why pictorial language wins attention …
-
Parallel methods for synthesizing whole-hand grasps from generalized prototypes
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1994.
-
Robust proprioceptive grasping with a soft robot hand
… a combined system which autonomously performs grasps. A highly compliant soft hand allows for intrinsic robustness to grasping uncertainties; the addition of internal sensing allows the configuration of the hand and object to be detected. The hand can be configured in different ways using …
-
Example-based grasp adaptation
… explore an efficient and robust method to decide grasps given new objects that are irregularly-shaped (3D polygon meshes). To solve the problem, we use an example-based approach. We first find grasps for objects geometrically similar to those the system has seen before. For example, if the system …
-
Improving Vision-Based Robotic Grasping for Enhanced Comprehensibility
… and fail to account for reasons behind failed grasps. To address these problems, this thesis proposes a three-step grasping process, composed of the steps: lowering, closing, and lifting. The lowering step identifies possible grasp points where the gripper can be lowered without collision, …
-
Perfil sociodemográfico e avaliação de escores preditores de risco de sangramento intracraniano em pacientes com acidente vascular cerebral isquêmico submetidos à trombólise endovenosa em hospital do nordeste brasileiro
… clínicos. Dentre os escores aplicados, o GRASPS teve associação estatisticamente significativa com eventos hemorrágicos intracranianos, de modo que 21,9% (7/32) dos pacientes com escore GRASPS ≥ 73 apresentaram hemorragia intracraniana sintomática, enquanto 6,8% (4/59) daqueles com escore …
-
Learning task-oriented grasp heuristics from demonstration
… manner and defined a procedure to instantiate grasps from these learned models. Equating distinct motion profiles with the execution of distinct tasks, our approach leverages the motion during human demonstration in order to partition the accompanying grasp examples into tasks in an …
-
Computation of Suitable Grasp Pose for Usage of Objects Based on Predefined Training and Real-time Pose Estimation
… grasping mechanisms focus on executing accurate grasps which are not always suitable for the usage of objects. We developed a system that can be used to train humanoid robots with different types of grasp poses. We present a grasping mechanism using homogeneous transformation that allows a …
-
Aggressive Aerial Grasping using a Soft Drone with Onboard Perception
… We demonstrate fully onboard vision-based grasps of a variety of objects, in both indoor and outdoor environments, and up to speeds of 2.0 m/s— the fastest vision-based grasp reported in the literature. Finally, we take a major step in expanding the utility of our platform beyond stationary …
-
Soft Aerial Manipulation
… executed at reduced speed to ensure successful grasps. This is because modern aerial manipulation platforms employ rigid manipulators with few degrees of freedom, limiting their capability to compensate for disturbances caused by the vehicle positioning errors and maintain stability despite …
-
Generating grasping using models based on duality
… is in a position to execute a valid grasp. Valid grasps are ones physically realizable and can lift an object when it is assumed that the gripping forces and the friction coefficients are large enough to keep the object from slipping. The objects considered are polyhedra and valid grip checks for …
-
Towards Optimal Grasping Of Unknown Objects Using Deep Reinforcement Learning
… placed randomly. The agent identified optimal grasps using a grasp quality score in the DRL model’s reward function.
-
Naturalistic Visuomotor Behaviours Reveal Reduced Handedness Lateralization In Autism
… showed a lower proportion of right-hand grasps and more balanced cross-body reaches, indicating reduced lateralization. They also preferred blocks closer to their hands, suggesting larger safety margins in 3D space use. Movement trajectory analyses revealed more idiosyncratic action …
-
Geometry and Algorithms for Part Fixturing, Grasping and Manipulation With Modular Fixturing Elements, a New Reconfigurable Gripper and Mobile Robots
… algorithms for planning immobilizing fixtures, grasps, in-hand manipulation sequences and obstacle avoidance manipulation plans for parts with known geometry. This approach is applied to three different mechanisms: a fixturing device assembled from standard modular elements, a novel …
-
Reading Attitudes - Are They Affected by the Methods of Instruction?
… a whole language approach to beginning reading grasps the interests and fosters positive attitudes towards reading in young children then it must be looked at as a viable alternative to the basal reader.
-
Affordable Haptic Gloves Beyond the Fingertips
… at the fingertips. Considering the many types of grasps used by humans to interact with objects, it is evident that haptic gloves must offer feedback to many regions of the hand, such as the palm and lengths of the fingers to provide more realistic feedback. This thesis discusses a novel, …
-
Healing the Rift of Race and Faith in Johnston County, North Carolina
… Faculty Supervisor: Dr. Kevin M. Jones Chapter 1 grasps the overarching issues surrounding the goal of reconciling faith and race in Johnston County, North Carolina. This chapter lays out the goals and other vital aspects to the project itself, such as research methodology. Chapter 2 lays the …
-
Learning a strategy for whole-arm grasping
… 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, in the presence of uncertainty, this approach often leads to failure, …
-
Learning of Multi-Dimensional, Multi-Modal Features for Robotic Grasping
… it becomes increasingly efficient at inferring grasps from visual evidence. This behavior relies on (1) a grasp model representing relative object-gripper configurations and their feasibility, and (2) a model of visual object structure, which aligns the grasp model to arbitrary object poses (3D …
Page 1 of 3