Sökning: "Dexterous Grasping"

Hittade 4 avhandlingar innehållade orden Dexterous Grasping.

  1. 1. 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

  3. 2. Robot Manipulation Planning Among Obstacles: Grasping, Placing and Rearranging

    Författare :Joshua Alexander Haustein; Danica Kragic; Kostas E. Bekris; KTH; []
    Nyckelord :NATURVETENSKAP; NATURAL SCIENCES; NATURVETENSKAP; NATURAL SCIENCES; robot manipulation planning; sampling-based planning; fingertip grasp planning; placement planning; rearrangement planning; Computer Science; Datalogi;

    Sammanfattning : This thesis presents planning algorithms for three different robot manipulation tasks: fingertip grasping, object placing and rearranging. Herein, we place special attention on addressing these tasks in the presence of obstacles. LÄS MER

  4. 3. Dual-Arm Robotic Manipulation under Uncertainties and Task-Based Redundancy

    Författare :Diogo Almeida; Yiannis Karayiannidis; Fabrizio Caccavale; KTH; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY;

    Sammanfattning : Robotic manipulators are mostly employed in industrial environments, where their tasks can be prescribed with little to no uncertainty. This is possible in scenarios where the deployment time of robot workcells is not prohibitive, such as in the automotive industry. LÄS MER

  5. 4. Neural correlates of hand function in typically developing individuals and children with unilateral cerebral palsy

    Författare :Linda Holmström; Karolinska Institutet; Karolinska Institutet; []
    Nyckelord :;

    Sammanfattning : The ability to use our hands is crucial in order to achieve the goals of almost all activities in everyday life. Most of us learn how to handle objects and adjust our hand and finger movements to perform increasingly difficult tasks during childhood and adolescence. LÄS MER