2026-09-19T19:54:15Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/1060202026-06-06T01:03:05Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
Leslie Pack Kaelbling and Tomás Lozano-Pérez.
Goretkin, Gustavo Nunes
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science.
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
2016-12-22T15:18:50Z
2016-12-22T15:18:50Z
2016
2016
http://hdl.handle.net/1721.1/106020
965829624
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).
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.
by Gustavo Nunes Goretkin.
M.Eng. in Computer Science and Engineering
54 pages
eng
Massachusetts Institute of Technology
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.
http://dspace.mit.edu/handle/1721.1/7582
Electrical Engineering and Computer Science.
State estimation for manipulation with compliance control and force sensing
Thesis
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