Physics-, social-, and capability- based reasoning for robotic manipulation
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2012.
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| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2012
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| Online Access: | http://hdl.handle.net/1721.1/70445 |
| _version_ | 1811073660964831232 |
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| author | Williams, Kenton J. (Kenton James) |
| author2 | Cynthia Breazeal and John Leonard. |
| author_facet | Cynthia Breazeal and John Leonard. Williams, Kenton J. (Kenton James) |
| author_sort | Williams, Kenton J. (Kenton James) |
| collection | MIT |
| description | Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2012. |
| first_indexed | 2024-09-23T09:36:34Z |
| format | Thesis |
| id | mit-1721.1/70445 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T09:36:34Z |
| publishDate | 2012 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/704452019-04-10T23:23:47Z Physics-, social-, and capability- based reasoning for robotic manipulation Williams, Kenton J. (Kenton James) Cynthia Breazeal and John Leonard. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Mechanical Engineering. Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2012. Cataloged from PDF version of thesis. Includes bibliographical references (p. 124-128). Robots that can function in human-centric domains have the potential to help humans with the chores of everyday life. Moreover, dexterous robots with the ability to reason about the maneuvers they execute for manipulation tasks can function more autonomously and intelligently. This thesis outlines the development of a reasoning architecture that uses physics-, social-, and agent capability-based knowledge to generate manipulation strategies that a dexterous robot can implement in the physical world. The reasoning system learns object affordances through a combination of observations from human interactions, explicit rules and constraints imposed on the system, and hardcoded physics-based logic. Observations from humans performing manipulation tasks are also used to develop a unique manipulation repertoire suitable for the robot. The system then uses Bayesian Networks to probabilistically determine the best manipulation strategies for the robot to execute on new objects. The robot leverages this knowledge during experimental trials where manipulation strategies suggested by the reasoning architecture are shown to perform well in new manipulation environments. by Kenton J. Williams. S.M. 2012-04-26T18:54:08Z 2012-04-26T18:54:08Z 2012 2012 Thesis http://hdl.handle.net/1721.1/70445 785729222 eng M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 128 p. application/pdf Massachusetts Institute of Technology |
| spellingShingle | Mechanical Engineering. Williams, Kenton J. (Kenton James) Physics-, social-, and capability- based reasoning for robotic manipulation |
| title | Physics-, social-, and capability- based reasoning for robotic manipulation |
| title_full | Physics-, social-, and capability- based reasoning for robotic manipulation |
| title_fullStr | Physics-, social-, and capability- based reasoning for robotic manipulation |
| title_full_unstemmed | Physics-, social-, and capability- based reasoning for robotic manipulation |
| title_short | Physics-, social-, and capability- based reasoning for robotic manipulation |
| title_sort | physics social and capability based reasoning for robotic manipulation |
| topic | Mechanical Engineering. |
| url | http://hdl.handle.net/1721.1/70445 |
| work_keys_str_mv | AT williamskentonjkentonjames physicssocialandcapabilitybasedreasoningforroboticmanipulation |