An Optimization Approach to Certified Manipulation
The goal of this thesis is to explore the problem of contact-rich robotic manipulation from an optimization perspective. We plan to study the interplay between contact mechanics, geometry, and machine learning to synthesize manipulation plans with varying theoretical properties. More specifically, w...
| Main Author: | |
|---|---|
| Other Authors: | |
| Format: | Thesis |
| Published: |
Massachusetts Institute of Technology
2023
|
| Online Access: | https://hdl.handle.net/1721.1/151936 |