Search for dissertations about: "fingertip grasp planning"
Found 3 swedish dissertations containing the words fingertip grasp planning.
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1. 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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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. Representation and Learning for Robotic Grasping, Caging, and Planning
Abstract : 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. READ MORE