Sökning: "grasp synthesis"

Visar resultat 1 - 5 av 7 avhandlingar innehållade orden grasp synthesis.

  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. 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. Data-Efficient Representation Learning for Grasping and Manipulation

    Författare :Ahmet Ercan Tekden; Chalmers tekniska högskola; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; NATURVETENSKAP; NATURAL SCIENCES; Learning from Demonstration; Generative Modeling; Neural Fields; Robot Learning; Data-efficient Representation Learning; Grasping; Robot Manipulation;

    Sammanfattning : General-purpose robotics require adaptability to environmental variations and, therefore, need effective representations for programming them. A common way to acquire such representations is through machine learning. Machine learning has shown great potential in computer vision, natural language processing, reinforcement learning, and robotics. LÄS MER

  5. 4. 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

  7. 5. Quantum chemical modelling of enantioselectivity in alcohol dehydrogenase

    Författare :Sara Moa; Stockholms universitet; []
    Nyckelord :NATURVETENSKAP; NATURAL SCIENCES;

    Sammanfattning : Biocatalytic methods of synthesis are becoming increasingly important in industry. Using enzymes as catalysts allows highly selective reactions to be performed under milder physical conditions and in a more environmentally benign fashion than most corresponding chemical catalysts. LÄS MER