Search for dissertations about: "grasping"

Showing result 1 - 5 of 61 swedish dissertations containing the word grasping.

  1. 1. Dexterous Grasping : Representation and Optimization

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

    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

  2. 2. Holistic Grasping: Affordances, Grasp Semantics, Task Constraints

    Author : Martin Hjelm; Danica Kragic; Markus Vincze; KTH; []
    Keywords : NATURAL SCIENCES; NATURVETENSKAP; NATURVETENSKAP; NATURAL SCIENCES; robotics; robotic grasping; grasping; cognition; embodied cognition; computer vision; machine learning; artificial intelligence; AI; Gaussian process; Gaussian process latent variable model; GPLVM; 3D vision; point cloud features; robotik; manipulation; datorseende; maskininlärning; artificiell intelligens; kognition; Datalogi; Computer Science;

    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

  3. 3. From Human to Robot Grasping

    Author : Javier Romero; Danica Kragic; Jana Kosecka; KTH; []
    Keywords : ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; 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

  4. 4. Adaptive Grasping Using Tactile Sensing

    Author : Emil Hyttinen; Danica Kragic; Renaud Detry; Giacomo Spampinato; KTH; []
    Keywords : NATURAL SCIENCES; NATURVETENSKAP; NATURVETENSKAP; NATURAL SCIENCES; Robotics; Grasping; Tactile Sensing; Computer Science; Datalogi;

    Abstract : Grasping novel objects is challenging because of incomplete object data and because of uncertainties inherent in real world applications. To robustly perform grasps on previously unseen objects, feedback from touch is essential. In our research, we study how information from touch sensors can be used to improve grasping novel objects. READ MORE

  5. 5. Sensorimotor transformations during grasping movements

    Author : Daniel Säfström; Benoni B. Edin; Melvyn A. Goodale; Umeå universitet; []
    Keywords : MEDICAL AND HEALTH SCIENCES; MEDICIN OCH HÄLSOVETENSKAP; MEDICIN OCH HÄLSOVETENSKAP; MEDICAL AND HEALTH SCIENCES; sensorimotor transformation; sensory integration; visuomotor map; human physiology; adaptation; grasping; sensory substitution; Physiology; Fysiologi;

    Abstract : ‘Sensorimotor transformations’ are processes whereby sensory information is used to generate motor commands. One example is the ‘visuomotor map’ that transforms visual information about objects to motor commands that activates various muscles during grasping movements. READ MORE