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...
Main Author: | Taylor, Orion Thomas |
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Other Authors: | Rodriguez, Alberto |
Format: | Thesis |
Published: |
Massachusetts Institute of Technology
2023
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Online Access: | https://hdl.handle.net/1721.1/151933 |
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