MIT Libraries logoDSpace@MIT

MIT
View Item 
  • DSpace@MIT Home
  • MIT Libraries
  • MIT Theses
  • Graduate Theses
  • View Item
  • DSpace@MIT Home
  • MIT Libraries
  • MIT Theses
  • Graduate Theses
  • View Item
JavaScript is disabled for your browser. Some features of this site may not work without it.

Certified grasping

Author(s)
Aceituno-Cabezas, Bernardo.
Thumbnail
Download1252630690-MIT.pdf (3.674Mb)
Other Contributors
Massachusetts Institute of Technology. Department of Mechanical Engineering.
Advisor
Alberto Rodriguez.
Terms of use
MIT theses may be protected by copyright. Please reuse MIT thesis content according to the MIT Libraries Permissions Policy, which is available through the URL provided. http://dspace.mit.edu/handle/1721.1/7582
Metadata
Show full item record
Abstract
This thesis studies the notion of robustness on the planar grasping problem, from a geometric perspective. By treating grasping as a process that shapes the free-space of an object over time, we can define three types of certificates to guarantee success of a grasp: (a) invariance under an initial set, (b) convergence towards a goal grasp, and (c) observability over the final object pose. This work develops convex-combinatorial models for each of these certificates, which can be expressed as simple semi-algebraic relations under mild-modeling assumptions on the object and robot shapes. By leveraging these models to synthesize certificates, we optimize certifiable grasps of arbitrary planar objects composed as a union of convex polygons, using manipulators described as point-fingers. We validate this approach, as well as its underlying models, with simulations and real robot experiments, by caging and grasping random polygons, comparing against other standard grasp planning algorithms, and performing sensorless grasps over different objects.
Description
Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, February, 2021
 
Cataloged from the official PDF version of thesis.
 
Includes bibliographical references (pages 77-81).
 
Date issued
2021
URI
https://hdl.handle.net/1721.1/130857
Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Publisher
Massachusetts Institute of Technology
Keywords
Mechanical Engineering.

Collections
  • Graduate Theses

Browse

All of DSpaceCommunities & CollectionsBy Issue DateAuthorsTitlesSubjectsThis CollectionBy Issue DateAuthorsTitlesSubjects

My Account

Login

Statistics

OA StatisticsStatistics by CountryStatistics by Department
MIT Libraries
PrivacyPermissionsAccessibilityContact us
MIT
Content created by the MIT Libraries, CC BY-NC unless otherwise noted. Notify us about copyright concerns.