Planning for Dynamic Nonprehensile Object Transport

Generalized planning methods for dynamic manipulation struggle to efficiently solve kinodynamic constraints. Gradient-based methods suffer from initialization sensitivity, local optimum convergence, and lack of feasibility guarantees, while sampling-based methods can require large computation times if there exist challenging boundary conditions. Iterative Time Optimal Path Parameterization, or iTOPP, guarantees a feasible local minimum for a dynamic grasping problem by iteratively decreasing transit time for a trajectory initially generated to satisfy kinodynamic contact constraints. We demonstrate solutions that can handle initial or final goal states defined as quasistatically infeasible, in which purely quasistatic motions cannot generate a warm start trajectory. We also design an indirect adaptive controller that can track a desired dynamic grasping trajectory assuming unknown object mass and location parameters.

Name thesis:degree_name

Master

Department dc:contributor.department

Massachusetts Institute of Technology. Department of Mechanical Engineering

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2025

Author dc:creator

• Wang, Eric K.

Advisor dc:contributor.advisor

• Leonard, John

Statement dc:rights

• Attribution-NonCommercial-NoDerivatives 4.0 International (CC BY-NC-ND 4.0)
• Copyright retained by author(s)

Licence dc:rights.uri

• https://creativecommons.org/licenses/by-nc-nd/4.0/

Handle dc:identifier.uri

https://hdl.handle.net/1721.1/163564

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/163564