Model-based design for full-stack robot manipulation

As robotic manipulation research becomes more prevalent, it is crucial to develop clean, modular, and testable systems for researchers to make advances in their fields of expertise without sacrificing usability for others. It is also important to introduce those methods to beginners as they are entering the field, so they can build upon them in novel research. This thesis introduces a framework, informally called the Manipulation System, built using Drake Systems based on work done for the Fall 2018 MIT class Intelligent Robot Manipulation. This thesis also presents the groundwork for performing full-stack robot manipulation tasks and proposes extensions to make the system more usable and accessible to all.

Name thesis:degree_name

Master

Department dc:contributor.department

Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2019

Author dc:creator

• Muhlrad, Katy G.

Advisor dc:contributor.advisor

• Russ Tedrake.

• Electrical Engineering and Computer Science.

Statement dc:rights

• MIT theses are protected by copyright. They may be viewed, downloaded, or printed from this source but further reproduction or distribution in any format is prohibited without written permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

https://hdl.handle.net/1721.1/123045

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/123045