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Object manipulation by humanoid robots: Constrained motion planning using a graph of constraints applied to objectmanipulation by humanoid robots.
KTH, School of Computer Science and Communication (CSC).
2014 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

Humanoid robots have been an active field of research during the past few decades owing to the wide variety of motions and interactions possible via Humanoid. Nevertheless, planning motions is still challenging in many cases. This thesis tackles the problem of object manipulation. A graph of constraints is introduced to transform object manipulation tasks in sequences of constraints. Then, a constrained motion planner, using the graph of constraints, is used to find a suitable statically balanced path for a sliding robot. Affordance is used to provide the required information to build the graph of constraints. Analgorithm based on Rapidly exploring Random Tree navigates through the graph of constraints. Basic experiments of this method were performed with the humanoid robot HRP-2.

Abstract [sv]

Humanoida robotar har varit ett aktivt området för forskning under de senaste årtiondena på grund av deras stora möjligheter för rörelse roch interaktioner. Rörelseplanering är fortfarande problematiskt i många fall. Detta examensarbete tar itu med problemet med objektmanipulation. En graf av bivillkor införs för att omvandla objektmanipulationsupgifter till sekvenser av bivillkor. Denna graf används av rörelseplanerare för att hitta en lämplig statiskt balanserade väg för en glidande robot. Affordance används för att tillhandahålla den information som krävs för att bygga upp grafen och en algoritm baserad på Rapidly exploring Random Tree används för att navigera genom grafen. Grundläggande försök med denna metod utförts med den humanoidaroboten HRP-2.

Place, publisher, year, edition, pages
2014.
National Category
Computer Science
Identifiers
URN: urn:nbn:se:kth:diva-156314OAI: oai:DiVA.org:kth-156314DiVA: diva2:766237
Examiners
Available from: 2014-11-27 Created: 2014-11-26 Last updated: 2014-11-27Bibliographically approved

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf