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 12 of 12 for “"In-Hand Manipulation"”.
-
Adaptive, Anthropomorphic Robot Hands for Grasping and In-Hand Manipulation
This thesis presents the design, modeling, and development of adaptive robot hands that are capable of performing dexterous, in-hand manipulation. The robot hand comprises of anthropomorphic robotic fingers, which employ an adaptive actuation mechanism. The mechanism achieves both flexion/extension …
-
Geometry and Algorithms for Part Fixturing, Grasping and Manipulation With Modular Fixturing Elements, a New Reconfigurable Gripper and Mobile Robots
This thesis addresses the problem of immobilizing and manipulating parts with devices that have a mixture of discrete and continuous degrees of freedom. Immobilizing an object requires calculating the device parameters that reduce the positions and orientations of the object compatible with the …
-
Don’t Over Think It: Mechanically Intelligent Manipulation
Developing capable, robust robots that can effectively operate in unstructured environments requires reasoning over how embodiment and cognition impact the capability and complexity. In this thesis, we focus on the design of hands, finding a balance between capability and complexity through the …
-
Design and Manufacturing Methods for a Curved All-Around Camera-Based Tactile Sensor
In recent years, use of camera-based tactile sensors in robotics has grown in popularity as the dexterous and in-hand manipulation tasks we aim to accomplish become more difficult and as the environments a robotic hand must interact with become more complex. Past works have shown that by giving …
-
Tactile perception of cognitive robots
… to other modalities like vision, tactile sensing has been so far neglected by robotic researchers. At the time of writing, tactile sensing devices that can just approach the performance of the human sense of touch seem out of reach. Despite this fact the use and exploitation of available …
-
Leveraging Mechanics for Multi-step Robotic Manipulation Planning
This thesis focuses on enabling robots to robustly perform complex, multi-step manipulation tasks, like chopping vegetables or wielding a wrench. Completing such tasks requires a robot to plan and execute long sequences of actions, where each action involves many connected, discrete and continuous …
-
Dexterous manipulation with simple grippers
This thesis focuses on enabling 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 …
-
Safe Object Manipulation Strategies Using Tactile Sensors
Tactile feedback is essential for object manipulation tasks for humans and robots, facilitating reactive control even without vision. This dissertation introduces several tactile-based methodologies to enhance the manipulation performance and safety of robotic systems. Before presenting these …
-
Development of a Hierarchical Reflexive Control Framework for Autonomous Robotic Manipulation
Within the field of robotic manipulation, much research focus has been placed on improving perception and planning algorithms, assuming that the actions output by these high-level planners will be easily achieved by the robot systems. However, to surpass human manipulation performance, fast and …
-
Adaptive Gaming as an Occupation: Motor Phenomena and Lived Experiences
… This qualitative study examined the lived experience and motor phenomena that occur in people with disabilities during the occupation of video gaming. Historically, the occupation of video gaming, also referred to as <em>gaming</em>, has not been inclusive of individuals with …
-
Flexible access to an array of enantiomerically-enriched oxabisipidines and their use as chiral ligands in asymmetric synthesis
A broad series of optically-enriched oxabispidine scaffolds incorporating a range aryl, heteroaryl, and alkyl side arms has been successfully prepared, utilising an optically-pure common oxazine intermediate and commercially available aldehydes. In efforts towards establishing efficient access to …