Search for dissertations about: "Motion Planning"
Showing result 1 - 5 of 127 swedish dissertations containing the words Motion Planning.
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1. Optimization-based robot grasp synthesis and motion control
Abstract : 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. READ MORE
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2. Robot Manipulation Planning Among Obstacles: Grasping, Placing and Rearranging
Abstract : 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. READ MORE
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3. Communication-Aware Motion Planning for Mobile Robots
Abstract : Mobile robots have found numerous applications in recent years, in areas such as consumer robotics, environmental monitoring, security and transportation. For information dissemination, multi-robot cooperation or operator intervention, reliable communications are important. READ MORE
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4. Contributions to motion planning and orbital stabilization : case studies: Furuta pendulum swing up, inertia wheel oscillations and biped robot walking
Abstract : Generating and stabilizing periodic motions in nonlinear systems is a challenging task. In the control system community this topic is also known as limit cycle control. In recent years a framework known as Virtual Holonomic Constraints (VHC) has been developed as one of the solutions to this problem. READ MORE
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5. Least-Violating Motion Planning for Traffic-Compliant Autonomous Driving
Abstract : Over the last decade, autonomous vehicles has received an increasing amount of interest from industries and research institutes. For autonomous vehicles to properly function alongside human drivers, safety guarantees are a must. READ MORE