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Visar resultat 1 - 5 av 7 avhandlingar som matchar ovanstående sökkriterier.

  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. From Human to Robot Grasping

    Författare :Javier Romero; Danica Kragic; Jana Kosecka; KTH; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; computer vision; hand tracking; hand pose estimation; human-to-robot mapping; robotics; grasping; modeling; human action modeling; dimensionality reduction; taxonomy; corrective movements; visual servoing;

    Sammanfattning : Imagine that a robot fetched this thesis for you from a book shelf. How doyou think the robot would have been programmed? One possibility is thatexperienced engineers had written low level descriptions of all imaginabletasks, including grasping a small book from this particular shelf. LÄS MER

  4. 3. On repetitive control

    Författare :Gunnar Hillerström; Luleå tekniska universitet; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Reglerteknik; Control Engineering;

    Sammanfattning : This thesis will concern control systems ability to enhance performance by repeating, while maintaining a stable and sufficiently fast closed loop performance. Iterative techniques can be divided into repetitive and learning control. LÄS MER

  5. 4. Conceptual Modelling of Tasks : A Design Pattern Approach from E-mail to Robots

    Författare :Lars Oestreicher; Kerstin Severinson-Eklundh; Gerrit van der Veer; KTH; []
    Nyckelord :NATURVETENSKAP; NATURAL SCIENCES; Rehabilitation; therapy; Computer and systems science; Data- och systemvetenskap;

    Sammanfattning : HTML clipboardThe thesis deals with the dual problem of finding out and modelling the needs of users in various situations and constructing models of supportive software. Task analysis has not been a very hot topic for research in the last years, but in my work I have tried to apply task analysis to certain application areas. LÄS MER

  7. 5. Om elevers förståelse av naturvetenskapliga förklaringar och biologiska sammanhang

    Författare :Svend Pedersen; Stockholms universitet; []
    Nyckelord :SAMHÄLLSVETENSKAP; SOCIAL SCIENCES;

    Sammanfattning : The main purpose of this study is to obtain more detailed examples of how students' understanding of complex biological concepts develop at a time when they are first confronted with a more formal way of explaining science at school. Data were gathered from 16 students at two different periods in their schooling: at the beginning of the seventh grade and the end of the ninth grade. LÄS MER