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 4 of 4 for “"Non-prehensile."”.
-
Hierarchical planning for multi-contact non-prehensile manipulation
… them. Ideally, we would like to be able to plan prehensile and non-prehensile manipulation in an integrated fashion, but despite much progress in planning motions in the robot's configuration space in the presence of obstacles, progress in general manipulation planning has been more limited. The …
-
Manipulation with diverse actions
… movable objects, and a set of diverse, possibly non-prehensile manipulation actions, and the objective is to find a sequence of actions that moves each of the objects to a goal configuration. We argue that classic sampling-based techniques cannot solve DAMA problems because of the need to move …
-
Robotic manipulation by pushing at a single point with constant velocity : modeling and techniques
… without grasping the object being manipulated. Non-prehensile manipulation allows a robot to interact in situations which would otherwise be impossible due to object size or mass. This thesis investigates the most general pushing mode, that of a single contact point, formed either as a fixed …
-
Controlling Contact Transitions for Dynamic Robots
… dexterous dynamic manipulation through complex non-prehensile tasks that require considering the full spectrum of hybrid contact modes. We leverage recent advancements in contact-implicit MPC to generate contact-rich motion plans in real-time. We demonstrate, through careful integration of the …