Manipulation of unknown objects via contact configuration regulation
In this thesis, we present an approach to robotic manipulation of unknown objects through the regulation of an object's contact configuration: the location, geometry, and mode of all contacts between the object, robot, and environment. A contact configuration constrains the forces and motions t...
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| Format: | Thesis |
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Massachusetts Institute of Technology
2023
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| Online Access: | https://hdl.handle.net/1721.1/151933 |