Nonprehensile Manipulation of Multi-Link Hinges
Folding a multi-link hinge using nonprehensile manipulation provides insight into the problem classes of nonprehensile manipulation and nonrigid object manipulation. Because the dynamics of nonrigid object are generally governed by more parameters than rigid bodies, robustness to parameter uncertain...
| Main Author: | |
|---|---|
| Other Authors: | |
| Format: | Thesis |
| Published: |
Massachusetts Institute of Technology
2022
|
| Online Access: | https://hdl.handle.net/1721.1/144742 |
| _version_ | 1811079650243248128 |
|---|---|
| author | White, Danielle Marie |
| author2 | Lozano-Pérez, Tomás |
| author_facet | Lozano-Pérez, Tomás White, Danielle Marie |
| author_sort | White, Danielle Marie |
| collection | MIT |
| description | Folding a multi-link hinge using nonprehensile manipulation provides insight into the problem classes of nonprehensile manipulation and nonrigid object manipulation. Because the dynamics of nonrigid object are generally governed by more parameters than rigid bodies, robustness to parameter uncertainty is particularly important for these types of tasks. In this work, we propose several Cartesian impedance controllers which utilize vision feedback, force feedback, or both to fold a multi-link hinge. We characterize the robustness of these controllers to various system parameters, which provides insight into the effect of different types of feedback on controller performance. |
| first_indexed | 2024-09-23T11:18:28Z |
| format | Thesis |
| id | mit-1721.1/144742 |
| institution | Massachusetts Institute of Technology |
| last_indexed | 2024-09-23T11:18:28Z |
| publishDate | 2022 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/1447422022-08-30T03:42:34Z Nonprehensile Manipulation of Multi-Link Hinges White, Danielle Marie Lozano-Pérez, Tomás Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science Folding a multi-link hinge using nonprehensile manipulation provides insight into the problem classes of nonprehensile manipulation and nonrigid object manipulation. Because the dynamics of nonrigid object are generally governed by more parameters than rigid bodies, robustness to parameter uncertainty is particularly important for these types of tasks. In this work, we propose several Cartesian impedance controllers which utilize vision feedback, force feedback, or both to fold a multi-link hinge. We characterize the robustness of these controllers to various system parameters, which provides insight into the effect of different types of feedback on controller performance. M.Eng. 2022-08-29T16:08:38Z 2022-08-29T16:08:38Z 2022-05 2022-05-27T16:19:19.112Z Thesis https://hdl.handle.net/1721.1/144742 In Copyright - Educational Use Permitted Copyright MIT http://rightsstatements.org/page/InC-EDU/1.0/ application/pdf Massachusetts Institute of Technology |
| spellingShingle | White, Danielle Marie Nonprehensile Manipulation of Multi-Link Hinges |
| title | Nonprehensile Manipulation of Multi-Link Hinges |
| title_full | Nonprehensile Manipulation of Multi-Link Hinges |
| title_fullStr | Nonprehensile Manipulation of Multi-Link Hinges |
| title_full_unstemmed | Nonprehensile Manipulation of Multi-Link Hinges |
| title_short | Nonprehensile Manipulation of Multi-Link Hinges |
| title_sort | nonprehensile manipulation of multi link hinges |
| url | https://hdl.handle.net/1721.1/144742 |
| work_keys_str_mv | AT whitedaniellemarie nonprehensilemanipulationofmultilinkhinges |