Sökning: "GRASP"

Visar resultat 1 - 5 av 201 avhandlingar innehållade ordet GRASP.

  1. 1. Optimization-based robot grasp synthesis and motion control

    Författare :Robert Krug; Achim Lilienthal; Dimitar Dimitrov; Sami Haddadin; Örebro universitet; []
    Nyckelord :NATURVETENSKAP; NATURAL SCIENCES; Robot grasping; grasp synthesis; grasp planning; motion control; model predictive control; independent contact regions; obstacle avoidance; motion planning; Datavetenskap; Computer Science;

    Sammanfattning : This thesis investigates the questions of where to grasp and how to grasp a given object with an articulated robotic grasping device. To this end, aspects of grasp synthesis and hand motion planning and control are investigated. LÄS MER

  3. 2. To Grasp the Unexpected : Information Following a Prenatal Diagnosis of Congenital Heart Defect in the Fetus

    Författare :Tommy Carlsson; Elisabet Mattsson; Gunnar Bergman; Barbro Wadensten; Susanne Georgsson; Uppsala universitet; []
    Nyckelord :MEDICIN OCH HÄLSOVETENSKAP; MEDICAL AND HEALTH SCIENCES; Congenital Heart Defects; Consumer Health Information; Internet; Popular Works; Prenatal Diagnosis; Website Quality; Caring Sciences; Vårdvetenskap; Medicinsk vetenskap; Medical Science;

    Sammanfattning : The aim was to explore experiences and needs of information following a prenatal diagnosis of congenital heart defect, and to assess the quality of publicly available information websites about congenital heart defects. Study I was a qualitative interview study that explored experiences among 11 parents to prenatally diagnosed children. LÄS MER

  4. 3. To grip and not to slip : sensorimotor mechanisms in reactive control of grasp stability

    Författare :Charlotte Häger Ross; Roland S. Johansson; Umeå universitet; []
    Nyckelord :MEDICIN OCH HÄLSOVETENSKAP; MEDICAL AND HEALTH SCIENCES; human; hand; precision grip; grasp force; friction; cutaneous mechanoreceptors; sensorimotor integration; motor control;

    Sammanfattning : The reactive control of fingertip forces maintaining grasp stability was examined in man during a prehensile task. Blindfolded subjects used the precision grip between the tips of index finger and thumb to restrain an object that was subjected to unpredictable load forces. These were delivered tangential to the parallel grip surfaces of the object. LÄS MER

  5. 4. Dexterous Grasping : Representation and Optimization

    Författare :Kaiyu Hang; Nancy Pollard; KTH; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Dexterous Grasping; Hierarchical Fingertip Space; Grasp Planning; Grasp Adaptation; Computer Science; Datalogi;

    Sammanfattning : Many robot object interactions require that an object is firmly held, and that the grasp remains stable during the whole manipulation process. Based on grasp wrench space, this thesis address the problems of measuring the grasp sensitivity against friction changes, planning contacts and hand configurations on mesh and point cloud representations of arbitrary objects, planning adaptable grasps and finger gaiting for keeping a grasp stable under various external disturbances, as well as learning of grasping manifolds for more accurate reachability and inverse kinematics computation for multifingered grasping. LÄS MER

  7. 5. Robot Task Learning from Human Demonstration

    Författare :Staffan Ekvall; Danica Kragic; Marcus Vincze; KTH; []
    Nyckelord :NATURVETENSKAP; NATURAL SCIENCES; Robotics; Machine Learning; Artificial Intelligence; Computer Vision; Programming by Demonstration; Grasp Mappping; Grasp Recognition; Robot Grasping; Planning; Autonomous Robots; Computer science; Datalogi;

    Sammanfattning : Today, most robots used in the industry are preprogrammed and require a welldefined and controlled environment. Reprogramming such robots is often a costly process requiring an expert. By enabling robots to learn tasks from human demonstration, robot installation and task reprogramming are simplified. LÄS MER