Etd

 

Autonomous Vision-based Control for Within-hand Manipulation using Variable Friction Fingers Public

Downloadable Content

open in viewer

Robotic within-hand manipulation is challenging to implement, even for highly articulated, sensorized and expensive robotic hands, mainly due to the lack of accurate hand-object and contact models. In this thesis, automatic manipulation planning and control schemes are investigated for a robotic hand with variable friction finger surfaces. Three strategies, 1) an offline motion planner that is utilized in a feedforward manner, 2) an online vision-based control algorithm, 3) a hybrid approach that combines the offline and online algorithms, are proposed to reposition and reorient an object within the workspace of the hand. These methods are designed considering the non-holonomic and switching nature of the system. The experimental results show that each method provides different advantages in terms of efficiency, accuracy, and path trajectory smoothness. A method to track the object without the presence of any marker is also presented.

Last modified
  • 07/09/2021
Creator
Contributors
Degree
Unit
Publisher
Identifier
  • etd-4161
Advisor
Committee
Defense date
Year
  • 2020
Date created
  • 2020-08-14
Resource type
Rights statement
License

Relationships

In Collection:

Items

Permanent link to this page: https://digital.wpi.edu/show/9p290d34f