| dc.contributor.advisor | Leslie Pack Kaelbling and Tomás Lozano-Pérez. | en_US |
| dc.contributor.author | Goretkin, Gustavo Nunes | en_US |
| dc.contributor.other | Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science. | en_US |
| dc.date.accessioned | 2016-12-22T15:18:50Z | |
| dc.date.available | 2016-12-22T15:18:50Z | |
| dc.date.copyright | 2016 | en_US |
| dc.date.issued | 2016 | en_US |
| dc.identifier.uri | http://hdl.handle.net/1721.1/106020 | |
| dc.description | Thesis: M. Eng. in Computer Science and Engineering, Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2016. | en_US |
| dc.description | This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections. | en_US |
| dc.description | Cataloged from student-submitted PDF version of thesis. | en_US |
| dc.description | Includes bibliographical references (pages 53-54). | en_US |
| dc.description.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. | en_US |
| dc.description.statementofresponsibility | by Gustavo Nunes Goretkin. | en_US |
| dc.format.extent | 54 pages | en_US |
| dc.language.iso | eng | en_US |
| dc.publisher | Massachusetts Institute of Technology | en_US |
| dc.rights | M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. | en_US |
| dc.rights.uri | http://dspace.mit.edu/handle/1721.1/7582 | en_US |
| dc.subject | Electrical Engineering and Computer Science. | en_US |
| dc.title | State estimation for manipulation with compliance control and force sensing | en_US |
| dc.type | Thesis | en_US |
| dc.description.degree | M. Eng. in Computer Science and Engineering | en_US |
| dc.contributor.department | Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science | |
| dc.identifier.oclc | 965829624 | en_US |
