Bi-Level Belief Space Search for Assembly Tasks
Contact-rich manipulation tasks, such as assembly, require a robot to reason about both the geometric relationship between parts as well as the dynamical relationship between the forces the robot exerts and the motion of the parts. The application of forces enables the robot to reduce its uncertaint...
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| Format: | Thesis |
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Massachusetts Institute of Technology
2024
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| Online Access: | https://hdl.handle.net/1721.1/154156 |