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 uncertainty is particularly important for these types of tasks. In this work, we propose several Cartesian impedance controllers which utilize vision feedback, force feedback, or both to fold a multi-link hinge. We characterize the robustness of these controllers to various system parameters, which provides insight into the effect of different types of feedback on controller performance.

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

2022

Author dc:creator

• White, Danielle Marie

Advisor dc:contributor.advisor

• Lozano-Pérez, Tomás

Statement dc:rights

• In Copyright - Educational Use Permitted
• Copyright MIT

Licence dc:rights.uri

• http://rightsstatements.org/page/InC-EDU/1.0/

Handle dc:identifier.uri

https://hdl.handle.net/1721.1/144742

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/144742