Northwestern University

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Filtering by: Creator Jian Shi Subject Mechanical Engineering

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Modeling and Motion Planning for In-hand Sliding Manipulation

Description:

This thesis studies the in-hand manipulation problem of repositioning finger contacts on an object by controlled sliding. In this thesis we investigate two versions of the problem. First for a multifingered hand with circle patch contacts, we present a framework for planning the motion of the hand to create an...

Keyword:

Robotics

Subject:

Mechanical Engineering

Creator:

Jian Shi

Owner:

Scholarly Digital Publishing

Date Uploaded:

11/25/2019

Date Modified:

11/25/2019

Date Created:

2018-01-01

Resource Type:

Dissertation