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 61 for “"Object manipulation"”.
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Object Manipulation During Development
… children naturally explore and manipulate objects with their hands and fingers, becoming more skillful with practice and with age. The development of manual dexterity is important for several critical motor milestones in childhood and has a huge impact on self-care and learning tasks. …
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Grasp gaits for planar object manipulation
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1997.
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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 …
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Deformable Object Manipulation with a Tactile Reactive Gripper
Manipulating deformable objects remains a fundamental challenge in robotics, as techniques developed for rigid objects often fail to generalize. Deformable objects exhibit infinite-dimensional configuration spaces, frequent self-occlusion, and high model uncertainty, making global state estimation …
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Deformable Object Manipulation with a Tactile Reactive Gripper
Deformable objects like cloth and cables are challenging for robots to manipulate due to their high-dimensionality and unpredictable dynamics. In previous work, Yu et. al (2019) [45] used a tactile sensor to estimate the pose of a cable within the grip while sliding along it. The authors used …
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Predictive and reactive control mechanisms involved in object manipulation
… we rely on our ability to skillfully manipulate objects to complete tasks in our daily lives. This ability depends critically on our predictions of the mechanical properties of objects (i.e. weight), as well as rapid corrective responses, initiated when we encounter perturbations that interfere …
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Enhancing Capabilities of Assistive Robotic Arms: Learning, Control, and Object Manipulation
… diverse tasks, manipulate different types of objects, and simplify user control of these complex, high-dimensional systems. This thesis is structured around three key contributions. First, we introduce a method for assistive robots to autonomously learn complex, high-dimensional behaviors in a …
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Robot-assisted acoustic vortex tweezers
… a widely used methodology to achieve contactless manipulation. By generating the acoustic potential well to harness the targeted objects, acoustic tweezers have shown significant potential in various biomedical and biochemical research fields. Compared to other mechanisms of contactless …
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Designing Coherent Interactions for Virtual Reality
… for two complicated tasks, namely travel and object manipulation. For travel, we propose a family of redirected walking techniques called "narrative driven cell-based redirection", which lets the user traverse a VE that's much larger than the physical space without breaking the coherence of …
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Real-time Immersive human-computer interaction based on tracking and recognition of dynamic hand gestures
… the hand based HCI being a key HCI modality for object manipulation and gesture based communication, challenges are presented to provide users a natural, intuitive, effortless, precise, and real-time method for HCI based on dynamic hand gestures, due to the complexity of hand postures formed by …
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Nonprehensile Manipulation of Multi-Link Hinges
Folding a multi-link hinge using nonprehensile manipulation provides insight into the problem classes of nonprehensile manipulation and nonrigid object manipulation. Because the dynamics of nonrigid object are generally governed by more parameters than rigid bodies, robustness to parameter …
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Towards Stable Reinforcement Learning in Non-Episodic Tasks
… in various non-episodic tasks, including both object manipulation and locomotion. In this thesis, we study the challenges that arise from non-episodic tasks in two settings: (1) object manipulation in the Habitat Home Assistant Benchmark (HAB) [18] and (2) locomotion in the MuJoCo suite [20]. …
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Research and development of a rescue robot end-effector
… response situations, particularly related to object manipulation and gripping. In order to actively interact with the environment, a flexible and robust gripping system is vital. [an] end-effector solution ... was developed for the Ratel manipulator arm to fulfil these functions.
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Mechanics and Materials of the Elephant Trunk with Applications to Conservation Technology
… as it extends its trunk to pick up a variety of objects. Particular attention is paid to mechanical principles that explain the dynamics and forces applied to objects such as wrapping, suction, and object manipulation. We also report the geometry of the wrinkles of the trunk and its mechanical …
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ΥΠΟΛΟΓΙΣΜΟΣ ΚΑΙ ΑΝΑΛΥΣΗ ΚΙΝΗΤΗΣ ΜΕΤΑΛΛΙΚΗΣ ΑΡΠΑΓΗΣ ΡΟΜΠΟΤ
IN THIS WORK THE INTERACTION OF A GRIPPER-OBJECT SYSTEM IS CONSIDERED. THE ANALYSIS DEALS WITH TWO TYPES OF GRIPPERS: MULTIFINGERED, SINGLE DEGREE OF FREEDOM AND MULTIFINGERED MULTIFREEDOM GRIPPERS. THE UNILATERAL CONTACT BEHAVIOUR OF THE SYSTEM IS CONSIDERED AND THE PROBLEM IS FORMULATED AS A …
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Feedback control of many differential-drive robots with uniform control inputs
… Finally, we show an example of multi-robot object manipulation and assembly.
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Designing boundary interactions for simple mobile robots
… systems for solving high-level tasks such as object manipulation. One major contribution of this thesis is the derivation of necessary and sufficient conditions of stable, periodic trajectories for ""bouncing robots,"" a particular model of point robots that move in straight lines between …
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Smart Environment Based On Real-Time Human Position Tracking For Remote Presence And Collaboration
… the rest of the system including environment objects and other users. This is an interdisciplinary project where students from various departments have worked on the development of virtual model of the Moss Art Center and Torgersen Hall in Unity / X3D. Some students from the Department of …
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