State estimation for manipulation with compliance control and force sensing
Name
965829624-MIT.pdf
Description
Full printable version
Size
2.84 MB
Format
Adobe PDF
Checksum (MD5)
d299793bd66b07e86d44275677ec9149
Author(s)
Goretkin, Gustavo Nunes
Advisor(s)
Leslie Pack Kaelbling and Tomás Lozano-Pérez.
Date Issued
2016
Publisher
Massachusetts Institute of Technology
Abstract
This thesis investigates implementation details for a simple robotic manipulation domain. The configuration space of the domain is discretized and factored into contact states and metric states. A low-level force and impedance controller is developed on a PR2 robot. Higher-dimensional generalizations, planning, and empirical results are the subject of future work.
Description
Thesis: M. Eng. in Computer Science and Engineering, Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2016.
This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
Cataloged from student-submitted PDF version of thesis.
Includes bibliographical references (pages 53-54).
Subjects
Electrical Engineering and Computer Science.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Terms of Use
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