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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Detalhes bibliográficos
Autor principal: Taylor, Orion Thomas
Outros Autores: Rodriguez, Alberto
Formato: Tese
Publicado em: Massachusetts Institute of Technology 2023
Acesso em linha:https://hdl.handle.net/1721.1/151933

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