Sökning: "fingertip grasp planning"

Hittade 3 avhandlingar innehållade orden fingertip grasp planning.

  1. 1. 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

  3. 2. 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

  4. 3. Representation and Learning for Robotic Grasping, Caging, and Planning

    Författare :Johannes Andreas Stork; Danica Kragic; Wolfram Burgard; KTH; []
    Nyckelord :NATURVETENSKAP; NATURAL SCIENCES; Grasping; Caging; Planning; State Representation; Optimization; Topology; Manipulation; Reinforcement Learning; Datalogi; Computer Science;

    Sammanfattning : Robots need to grasp, handle, and manipulate objects, navigate their environment, and understand the state of the world around them. Like all artificial intelligence agents, they have to make predictions, formulate goals, reason about actions, and make plans. LÄS MER