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Physics-Based Manipulation Planning ...

Dogar, Mehmet R.

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Physics-Based Manipulation Planning in Cluttered Human Environments.

紀錄類型:	書目-語言資料,印刷品 : Monograph/item
正題名/作者:	Physics-Based Manipulation Planning in Cluttered Human Environments./
作者:	Dogar, Mehmet R.
面頁冊數:	118 p.
附註:	Source: Dissertation Abstracts International, Volume: 75-02(E), Section: B.
Contained By:	Dissertation Abstracts International75-02B(E).
標題:	Engineering, Robotics. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3575517
ISBN:	9781303536809

Physics-Based Manipulation Planning in Cluttered Human Environments.
Dogar, Mehmet R.

Physics-Based Manipulation Planning in Cluttered Human Environments. - 118 p.

Source: Dissertation Abstracts International, Volume: 75-02(E), Section: B.

Thesis (Ph.D.)--Carnegie Mellon University, 2013.

This thesis presents a series of planners and algorithms for manipulation in cluttered human environments. The focus is on using physics-based predictions, particularly for pushing operations, as an effective way to address the manipulation challenges posed by these environments.

ISBN: 9781303536809Subjects--Topical Terms:

1018454
Engineering, Robotics.

Physics-Based Manipulation Planning in Cluttered Human Environments.
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500 $a Adviser: Siddhartha S. Srinivasa.
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520 $a This thesis presents a series of planners and algorithms for manipulation in cluttered human environments. The focus is on using physics-based predictions, particularly for pushing operations, as an effective way to address the manipulation challenges posed by these environments.
520 $a We introduce push-grasping, a physics-based action to grasp an object first by pushing it and then closing the fingers. We analyze the mechanics of push-grasping and demonstrate its effectiveness under clutter and object pose uncertainty. We integrate a planning system based on push-grasping to the geometric planners traditionally used in grasping. We then show that a similar approach can be used to perform manipulation with environmental contact in cluttered environments. We present a planner where the robot can simultaneously push multiple obstacles out of the way while grasping an object through clutter.
520 $a In the second part of this thesis we focus on planning a sequence of actions to manipulate clutter. We present a planning framework to rearrange clutter using prehensile and non-prehensile primitives. We show that our planner succeeds in environments where planners which only use prehensile primitives fail. We then explore the problem of manipulating clutter to search for a hidden object. We formulate the problem as minimizing the expected time to find the target, present two algorithms, and analyze their complexity and optimality.
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710 2 $a Carnegie Mellon University. $b Robotics. $3 2096237
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