Creation of tools for manipulation tasks through Task and motion Planning using differentiable physics
This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
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| Other Authors: | |
| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2019
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| Online Access: | https://hdl.handle.net/1721.1/123024 |
| _version_ | 1826209713391403008 |
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| author | Wettersten, Christina. |
| author2 | Tomás Lozano-Pé́rez. |
| author_facet | Tomás Lozano-Pé́rez. Wettersten, Christina. |
| author_sort | Wettersten, Christina. |
| collection | MIT |
| description | This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections. |
| first_indexed | 2024-09-23T14:27:41Z |
| format | Thesis |
| id | mit-1721.1/123024 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T14:27:41Z |
| publishDate | 2019 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/1230242019-11-22T03:11:41Z Creation of tools for manipulation tasks through Task and motion Planning using differentiable physics Wettersten, Christina. Tomás Lozano-Pé́rez. Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science. Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science Electrical Engineering and Computer Science. This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections. Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2019 Cataloged from student-submitted PDF version of thesis. Includes bibliographical references (pages 58-62). Toussaint et al. [1] have proposed a novel embedding of dynamic physical manipulations within a Task And Motion Planning (TAMP) framework to achieve a subset of sequential manipulation tasks involving tools. The work, in part, mimics the human ability to plan using an 'intuitive physics engine' [2] by using physics-based primitives in task planning. The primitives are described by the stable kinematic or differentiable dynamic and impulse exchange constraints they impose on the robot during motion planning. By altering and expanding the set of primitives, to include modification and recombination of items in the work space, I present an expansion upon this approach using to achieve not only tool use, but tool creation. The new approach is then tested on three classes of problems: rerunning previous tool use problems, problems designed to recreate previously seen tools and manipulation problems in workspaces with significant obstacles. by Christina Wettersten. M. Eng. M.Eng. Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science 2019-11-22T00:02:55Z 2019-11-22T00:02:55Z 2019 2019 Thesis https://hdl.handle.net/1721.1/123024 1127649344 eng MIT theses are protected by copyright. They may be viewed, downloaded, or printed from this source but further reproduction or distribution in any format is prohibited without written permission. http://dspace.mit.edu/handle/1721.1/7582 67 pages application/pdf Massachusetts Institute of Technology |
| spellingShingle | Electrical Engineering and Computer Science. Wettersten, Christina. Creation of tools for manipulation tasks through Task and motion Planning using differentiable physics |
| title | Creation of tools for manipulation tasks through Task and motion Planning using differentiable physics |
| title_full | Creation of tools for manipulation tasks through Task and motion Planning using differentiable physics |
| title_fullStr | Creation of tools for manipulation tasks through Task and motion Planning using differentiable physics |
| title_full_unstemmed | Creation of tools for manipulation tasks through Task and motion Planning using differentiable physics |
| title_short | Creation of tools for manipulation tasks through Task and motion Planning using differentiable physics |
| title_sort | creation of tools for manipulation tasks through task and motion planning using differentiable physics |
| topic | Electrical Engineering and Computer Science. |
| url | https://hdl.handle.net/1721.1/123024 |
| work_keys_str_mv | AT wetterstenchristina creationoftoolsformanipulationtasksthroughtaskandmotionplanningusingdifferentiablephysics |