2026-09-19T14:43:52Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/1230242026-06-06T00:55:35Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
Tomás Lozano-Pé́rez.
Wettersten, Christina.
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science.
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
2019-11-22T00:02:55Z
2019-11-22T00:02:55Z
2019
2019
https://hdl.handle.net/1721.1/123024
1127649344
This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2019
Cataloged from student-submitted PDF version of thesis.
Includes bibliographical references (pages 58-62).
Toussaint et al. [1] have proposed a novel embedding of dynamic physical manipulations within a Task And Motion Planning (TAMP) framework to achieve a subset of sequential manipulation tasks involving tools. The work, in part, mimics the human ability to plan using an 'intuitive physics engine' [2] by using physics-based primitives in task planning. The primitives are described by the stable kinematic or differentiable dynamic and impulse exchange constraints they impose on the robot during motion planning. By altering and expanding the set of primitives, to include modification and recombination of items in the work space, I present an expansion upon this approach using to achieve not only tool use, but tool creation. The new approach is then tested on three classes of problems: rerunning previous tool use problems, problems designed to recreate previously seen tools and manipulation problems in workspaces with significant obstacles.
by Christina Wettersten.
M.Eng.
M.Eng. Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science
67 pages
eng
Massachusetts Institute of Technology
MIT theses are protected by copyright. They may be viewed, downloaded, or printed from this source but further reproduction or distribution in any format is prohibited without written permission.
http://dspace.mit.edu/handle/1721.1/7582
Electrical Engineering and Computer Science.
Creation of tools for manipulation tasks through Task and motion Planning using differentiable physics
Thesis
application/pdf
2019-11-22T00:02:54Z
Publication
Master
EECS
unknown
unknown
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<Abstract>Toussaint et al. [1] have proposed a novel embedding of dynamic physical manipulations within a Task And Motion Planning (TAMP) framework to achieve a subset of sequential manipulation tasks involving tools. The work, in part, mimics the human ability to plan using an 'intuitive physics engine' [2] by using physics-based primitives in task planning. The primitives are described by the stable kinematic or differentiable dynamic and impulse exchange constraints they impose on the robot during motion planning. By altering and expanding the set of primitives, to include modification and recombination of items in the work space, I present an expansion upon this approach using to achieve not only tool use, but tool creation. The new approach is then tested on three classes of problems: rerunning previous tool use problems, problems designed to recreate previously seen tools and manipulation problems in workspaces with significant obstacles.</Abstract>
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