Search for dissertations about: "Robot grasping"
Showing result 1 - 5 of 24 swedish dissertations containing the words Robot grasping.
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1. From Human to Robot Grasping
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
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2. Dexterous Grasping : Representation and Optimization
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
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3. Data-Efficient Representation Learning for Grasping and Manipulation
Abstract : 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. READ MORE
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4. Flexible Robot to Object Interactions Through Rigid and Deformable Cages
Abstract : In this thesis we study the problem of robotic interaction with objects from a flexible perspective that complements the rigid force-closure approach. In a flexible interaction the object is not firmly bound to the robot (immobilized), which leads to many interesting scenarios. READ MORE
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5. Holistic Grasping: Affordances, Grasp Semantics, Task Constraints
Abstract : Most of us perform grasping actions over a thousand times per day without giving it much consideration, be it from driving to drinking coffee. Learning robots the same ease when it comes to grasping has been a goal for the robotics research community for decades. READ MORE