Northwestern University

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Modeling, Motion Planning, and Feedback Control for Dynamic, Graspless, and Hybrid Robotic Manipulation Tasks

Description:

This thesis presents methods to improve the manipulation capabilities of robots. People and animals can effectively handle objects of many shapes, sizes, weights, and materials using a variety of manipulation primitives such as grasping, pushing, sliding, tipping, rolling, and throwing. In contrast, most robots manipulate objects by pick-and-place. Restricting robots...

Keyword:

Manipulation, Controls, Hybrid, Robotic, and Motion Planning

Subject:

Robotics

Creator:

Woodruff, James Zachary

Owner:

Scholarly Digital Publishing

Language:

en

Date Uploaded:

02/01/2021

Date Created:

2020-01-01

Resource Type:

Dissertation

Alternate Identifier:

etdadmin_upload_781100 and http://dissertations.umi.com/northwestern:15422