Pushing with a physics-based model
Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2011.
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| Other Authors: | |
| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2013
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| Online Access: | http://hdl.handle.net/1721.1/76988 |
| _version_ | 1811075941396381696 |
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| author | Liu, Huan |
| author2 | Tomas Lozano-Perez. |
| author_facet | Tomas Lozano-Perez. Liu, Huan |
| author_sort | Liu, Huan |
| collection | MIT |
| description | Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2011. |
| first_indexed | 2024-09-23T10:13:25Z |
| format | Thesis |
| id | mit-1721.1/76988 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T10:13:25Z |
| publishDate | 2013 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/769882019-04-12T21:36:08Z Pushing with a physics-based model Liu, Huan Tomas Lozano-Perez. Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science. Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science. Electrical Engineering and Computer Science. Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2011. Page numbering occurs only at the beginning of each chapter, the contents and the bibliography. Cataloged from PDF version of thesis. Includes bibliographical references (p. 67-[70]). Humans often push when grasping or lifting is inconvenient or infeasible, because pushing requires fewer contacts and fights against only a fraction of the object's weight. However, pushing results are hard to predict, because the physical parameters that govern the pushing motion are difficult to measure. We derived a physics-based box pushing model and implemented a feedback-based pushing pipeline using the model. Experimental results show that our pushing model has fair predictive power and our pushing pipeline can reliably push the target to the goal. We compared our physics-based method to a minimalistic baseline pushing method and showed that our method is more accurate and reliable. by Huan Liu. M.Eng. 2013-02-14T15:35:37Z 2013-02-14T15:35:37Z 2011 2011 Thesis http://hdl.handle.net/1721.1/76988 825553618 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 67, [3] p. application/pdf Massachusetts Institute of Technology |
| spellingShingle | Electrical Engineering and Computer Science. Liu, Huan Pushing with a physics-based model |
| title | Pushing with a physics-based model |
| title_full | Pushing with a physics-based model |
| title_fullStr | Pushing with a physics-based model |
| title_full_unstemmed | Pushing with a physics-based model |
| title_short | Pushing with a physics-based model |
| title_sort | pushing with a physics based model |
| topic | Electrical Engineering and Computer Science. |
| url | http://hdl.handle.net/1721.1/76988 |
| work_keys_str_mv | AT liuhuan pushingwithaphysicsbasedmodel |