Planning for Dynamic Nonprehensile Object Transport
Name
wang-ekwang-smme-meche-2025-thesis.pdf
Description
Thesis PDF
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2.43 MB
Format
Adobe PDF
Checksum (MD5)
e21bae69d7c3490eefdc16984f1db92b
Author(s)
Wang, Eric K.
Advisor(s)
Leonard, John
Date Issued
May 2025
Publisher
Massachusetts Institute of Technology
Abstract
Generalized planning methods for dynamic manipulation struggle to efficiently solve kinodynamic constraints. Gradient-based methods suffer from initialization sensitivity, local optimum convergence, and lack of feasibility guarantees, while sampling-based methods can require large computation times if there exist challenging boundary conditions. Iterative Time Optimal Path Parameterization, or iTOPP, guarantees a feasible local minimum for a dynamic grasping problem by iteratively decreasing transit time for a trajectory initially generated to satisfy kinodynamic contact constraints. We demonstrate solutions that can handle initial or final goal states defined as quasistatically infeasible, in which purely quasistatic motions cannot generate a warm start trajectory. We also design an indirect adaptive controller that can track a desired dynamic grasping trajectory assuming unknown object mass and location parameters.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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