State estimation for manipulation with compliance control and force sensing

Author(s)
Goretkin, Gustavo Nunes
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Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science.
Advisor
Leslie Pack Kaelbling and Tomás Lozano-Pérez.
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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).
 
Date issued
2016
URI
http://hdl.handle.net/1721.1/106020
Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Publisher
Massachusetts Institute of Technology
Keywords
Electrical Engineering and Computer Science.
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