Search for dissertations about: "Grasp Adaptation"

Showing result 1 - 5 of 6 swedish dissertations containing the words Grasp Adaptation.

2. 1. Dexterous Grasping : Representation and Optimization

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

   Abstract : 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. READ MORE

4. 2. From Human to Robot Grasping

   Author : Javier Romero; Danica Kragic; Jana Kosecka; KTH; []
   Keywords : 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;

   Abstract : 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. READ MORE

5. 3. On repetitive control

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

   Abstract : 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. READ MORE

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

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

   Abstract : 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. READ MORE

7. 5. Force-based control for human-robot cooperative object manipulation

   Author : Ramin Jaberzadeh Ansari; Chalmers tekniska högskola; []
   Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; kinesthetic perception; physical human-robot collaboration; system identification; human-robot interaction control;

   Abstract : In Physical Human-Robot Interaction (PHRI), humans and robots share the workspace and physically interact and collaborate to perform a common task. However, robots do not have human levels of intelligence or the capacity to adapt in performing collaborative tasks. READ MORE