Nonprehensile Manipulation of Multi-Link Hinges
Name
White-dmwhite-meng-eecs-2022-thesis.pdf
Description
Thesis PDF
Size
1.2 MB
Format
Adobe PDF
Checksum (MD5)
6c62329f31dc9302340d96f8035041fb
Author(s)
White, Danielle Marie
Advisor(s)
Lozano-Pérez, Tomás
Date Issued
May 2022
Publisher
Massachusetts Institute of Technology
Abstract
Folding a multi-link hinge using nonprehensile manipulation provides insight into the problem classes of nonprehensile manipulation and nonrigid object manipulation. Because the dynamics of nonrigid object are generally governed by more parameters than rigid bodies, robustness to parameter uncertainty is particularly important for these types of tasks. In this work, we propose several Cartesian impedance controllers which utilize vision feedback, force feedback, or both to fold a multi-link hinge. We characterize the robustness of these controllers to various system parameters, which provides insight into the effect of different types of feedback on controller performance.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Terms of Use
In Copyright - Educational Use Permitted
Copyright MIT
Persistent DSpace Link
