Force-and-motion constrained planning for tool use
Name
1142635518-MIT.pdf
Size
6.25 MB
Format
Adobe PDF
Checksum (MD5)
a5d042ef019661b79b987e67b857a27e
Author(s)
Holladay, Rachel Mara.
Advisor(s)
Alberto Rodriguez and Tomás Lozano-Pérez.
Date Issued
2019
Publisher
Massachusetts Institute of Technology
Abstract
The use of hand tools presents a challenge for robot manipulation in part because it calls for motions requiring continuous force application over a whole trajectory, usually involving large joint-angle excursions. The feasible application of a tool, such as pulling a nail with a hammer claw, requires careful coordination of the choice of grasp and joint trajectories to ensure kinematic and force limits are not exceeded - in the grasp as well as the robot mechanism. In this thesis, we formulate this type of problem as choosing the values of decision variables in the presence of various constraints. We evaluate the impact of the various constraints in some representative instances of tool use. To aid others in further investigating this class of problems, we have released materials such as printable tool models and experimental data. We hope that these can serve as the basis of a benchmark problem for investigating tasks that involve many kinematic, actuation, friction, and environment constraints.
Description
This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
Thesis: S.M., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2019
Cataloged from student-submitted PDF version of thesis.
Includes bibliographical references (pages [41]-47).
Subjects
Electrical Engineering and Computer Science.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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