語系:
繁體中文
English
說明(常見問題)
回圖書館首頁
手機版館藏查詢
登入
查詢
薦購
讀者園地
我的帳戶
說明
簡單查詢
進階查詢
圖書館推薦圖書
讀者推薦圖書(公開)
教師指定參考書
借閱排行榜
預約排行榜
分類瀏覽
展示書
專題書單RSS
個人資料
個人檢索策略
個人薦購
借閱紀錄/續借/預約
個人評論
個人書籤
東區互惠借書
回首頁
切換:
標籤
|
MARC模式
|
ISBD
Deformable Object Manipulation: Lear...
~
McConachie, Dale.
FindBook
Google Book
Amazon
博客來
Deformable Object Manipulation: Learning While Doing.
紀錄類型:
書目-電子資源 : Monograph/item
正題名/作者:
Deformable Object Manipulation: Learning While Doing./
作者:
McConachie, Dale.
出版者:
Ann Arbor : ProQuest Dissertations & Theses, : 2020,
面頁冊數:
141 p.
附註:
Source: Dissertations Abstracts International, Volume: 82-07, Section: B.
Contained By:
Dissertations Abstracts International82-07B.
標題:
Computer science. -
電子資源:
https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=28240226
ISBN:
9798684626128
Deformable Object Manipulation: Learning While Doing.
McConachie, Dale.
Deformable Object Manipulation: Learning While Doing.
- Ann Arbor : ProQuest Dissertations & Theses, 2020 - 141 p.
Source: Dissertations Abstracts International, Volume: 82-07, Section: B.
Thesis (Ph.D.)--University of Michigan, 2020.
This item must not be sold to any third party vendors.
This dissertation is motivated by two research questions: (1) How can robots perform a broad range of useful tasks with deformable objects without a time consuming modelling or data collection phase? and (2) How can robots take advantage of information learned while manipulating deformable objects?To address the first question, I propose a framework for deformable object manipulation that interleaves planning and control, enabling complex manipulation tasks without relying on high-fidelity modeling or simulation. Each part of the framework uses a different representation of the deformable object that is well suited for the specific requirements of each component. The key idea behind these techniques is that we do not need to explicitly model and control every part of the deformable object, instead relying on the object's natural compliance in many situations. For the second question, I consider the two major components of my framework and examine what can cause failure in each. The goal then is to learn from experience gathered while performing tasks in order to avoid making the same mistake again and again. To this end I formulate the controller's task as a Multi-Armed Bandit problem, enabling the controller to choose models based on the current circumstances. For the planner, I present a method to learn when we can rely on the robot's model of the deformable object, enabling the planner to avoid generating plans that are infeasible.This framework is demonstrated in simulation with free floating grippers as well as on a 16 DoF physical robot, where reachability and dual-arm constraints make the tasks more difficult.
ISBN: 9798684626128Subjects--Topical Terms:
523869
Computer science.
Subjects--Index Terms:
Deformable object manipulation
Deformable Object Manipulation: Learning While Doing.
LDR
:03000nmm a2200433 4500
001
2281753
005
20210920103359.5
008
220723s2020 ||||||||||||||||| ||eng d
020
$a
9798684626128
035
$a
(MiAaPQ)AAI28240226
035
$a
(MiAaPQ)umichrackham003151
035
$a
AAI28240226
040
$a
MiAaPQ
$c
MiAaPQ
100
1
$a
McConachie, Dale.
$3
3560461
245
1 0
$a
Deformable Object Manipulation: Learning While Doing.
260
1
$a
Ann Arbor :
$b
ProQuest Dissertations & Theses,
$c
2020
300
$a
141 p.
500
$a
Source: Dissertations Abstracts International, Volume: 82-07, Section: B.
500
$a
Advisor: Berenson, Dmitry.
502
$a
Thesis (Ph.D.)--University of Michigan, 2020.
506
$a
This item must not be sold to any third party vendors.
506
$a
This item must not be added to any third party search indexes.
520
$a
This dissertation is motivated by two research questions: (1) How can robots perform a broad range of useful tasks with deformable objects without a time consuming modelling or data collection phase? and (2) How can robots take advantage of information learned while manipulating deformable objects?To address the first question, I propose a framework for deformable object manipulation that interleaves planning and control, enabling complex manipulation tasks without relying on high-fidelity modeling or simulation. Each part of the framework uses a different representation of the deformable object that is well suited for the specific requirements of each component. The key idea behind these techniques is that we do not need to explicitly model and control every part of the deformable object, instead relying on the object's natural compliance in many situations. For the second question, I consider the two major components of my framework and examine what can cause failure in each. The goal then is to learn from experience gathered while performing tasks in order to avoid making the same mistake again and again. To this end I formulate the controller's task as a Multi-Armed Bandit problem, enabling the controller to choose models based on the current circumstances. For the planner, I present a method to learn when we can rely on the robot's model of the deformable object, enabling the planner to avoid generating plans that are infeasible.This framework is demonstrated in simulation with free floating grippers as well as on a 16 DoF physical robot, where reachability and dual-arm constraints make the tasks more difficult.
590
$a
School code: 0127.
650
4
$a
Computer science.
$3
523869
650
4
$a
Technical communication.
$3
3172863
650
4
$a
Information technology.
$3
532993
650
4
$a
Artificial intelligence.
$3
516317
650
4
$a
Mechanical engineering.
$3
649730
650
4
$a
Robotics.
$3
519753
653
$a
Deformable object manipulation
653
$a
Motion planning
653
$a
Machine learning
653
$a
Planning and control
653
$a
Deformable object modelling
690
$a
0771
690
$a
0643
690
$a
0984
690
$a
0489
690
$a
0800
690
$a
0548
710
2
$a
University of Michigan.
$b
Robotics.
$3
3546383
773
0
$t
Dissertations Abstracts International
$g
82-07B.
790
$a
0127
791
$a
Ph.D.
792
$a
2020
793
$a
English
856
4 0
$u
https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=28240226
筆 0 讀者評論
館藏地:
全部
電子資源
出版年:
卷號:
館藏
1 筆 • 頁數 1 •
1
條碼號
典藏地名稱
館藏流通類別
資料類型
索書號
使用類型
借閱狀態
預約狀態
備註欄
附件
W9433486
電子資源
11.線上閱覽_V
電子書
EB
一般使用(Normal)
在架
0
1 筆 • 頁數 1 •
1
多媒體
評論
新增評論
分享你的心得
Export
取書館
處理中
...
變更密碼
登入