東華大學圖書館 |

Language: English

Help

回圖書館首頁

手機版館藏查詢

Back

Switch To: Labeled | MARC Mode | ISBD

Physics-Based Manipulation Planning ...

Dogar, Mehmet R.

Linked to FindBook

Google Book

Amazon

博客來

Physics-Based Manipulation Planning in Cluttered Human Environments.

Record Type:	Language materials, printed : Monograph/item
Title/Author:	Physics-Based Manipulation Planning in Cluttered Human Environments./
Author:	Dogar, Mehmet R.
Description:	118 p.
Notes:	Source: Dissertation Abstracts International, Volume: 75-02(E), Section: B.
Contained By:	Dissertation Abstracts International75-02B(E).
Subject:	Engineering, Robotics. -
Online resource:	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.
LDR:02320nam a2200289 4500 001 1960563
005 20140623111235.5
008 150210s2013 ||||||||||||||||| ||eng d
020 $a 9781303536809
035 $a (MiAaPQ)AAI3575517
035 $a AAI3575517
040 $a MiAaPQ $c MiAaPQ
100 1 $a Dogar, Mehmet R. $3 2096249
245 1 0 $a Physics-Based Manipulation Planning in Cluttered Human Environments.
300 $a 118 p.
500 $a Source: Dissertation Abstracts International, Volume: 75-02(E), Section: B.
500 $a Adviser: Siddhartha S. Srinivasa.
502 $a Thesis (Ph.D.)--Carnegie Mellon University, 2013.
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.
590 $a School code: 0041.
650 4 $a Engineering, Robotics. $3 1018454
690 $a 0771
710 2 $a Carnegie Mellon University. $b Robotics. $3 2096237
773 0 $t Dissertation Abstracts International $g 75-02B(E).
790 $a 0041
791 $a Ph.D.
792 $a 2013
793 $a English
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3575517