2026-09-19T05:50:30Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/1230452026-06-06T00:55:19Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
Russ Tedrake.
Muhlrad, Katy G.
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science.
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
2019-11-22T00:04:04Z
2019-11-22T00:04:04Z
2019
2019
https://hdl.handle.net/1721.1/123045
1127911587
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 60-65).
As robotic manipulation research becomes more prevalent, it is crucial to develop clean, modular, and testable systems for researchers to make advances in their fields of expertise without sacrificing usability for others. It is also important to introduce those methods to beginners as they are entering the field, so they can build upon them in novel research. This thesis introduces a framework, informally called the Manipulation System, built using Drake Systems based on work done for the Fall 2018 MIT class Intelligent Robot Manipulation. This thesis also presents the groundwork for performing full-stack robot manipulation tasks and proposes extensions to make the system more usable and accessible to all.
by Katy G. Muhlrad.
M.Eng.
M.Eng. Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science
65 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.
Model-based design for full-stack robot manipulation
Thesis
application/pdf
2019-11-22T00:04:03Z
Publication
Master
EECS
unknown
unknown
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