Serra, Diana (2017) Motion planning and control methods for nonprehensile manipulation and multi-contact locomotion tasks. [Tesi di dottorato]

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Item Type: Tesi di dottorato
Lingua: English
Title: Motion planning and control methods for nonprehensile manipulation and multi-contact locomotion tasks
Creators:
CreatorsEmail
Serra, Dianadiana.serra@unina.it
Date: 9 April 2017
Number of Pages: 138
Institution: Università degli Studi di Napoli Federico II
Department: Ingegneria Elettrica e delle Tecnologie dell'Informazione
Dottorato: Information technology and electrical engineering
Ciclo di dottorato: 29
Coordinatore del Corso di dottorato:
nomeemail
Riccio, Danieledaniele.riccio@unina.it
Tutor:
nomeemail
Lippiello, VincenzoUNSPECIFIED
Ruggiero, FabioUNSPECIFIED
Date: 9 April 2017
Number of Pages: 138
Uncontrolled Keywords: robot control, nonprehensile manipulation, walking robot
Settori scientifico-disciplinari del MIUR: Area 09 - Ingegneria industriale e dell'informazione > ING-INF/04 - Automatica
Date Deposited: 09 May 2017 15:26
Last Modified: 08 Mar 2018 13:36
URI: http://www.fedoa.unina.it/id/eprint/11709
DOI: 10.6093/UNINA/FEDOA/11709

Abstract

Many existing works in the robotic literature deal with the problem of nonprehensile dynamic manipulation. However, a unified control framework does not exist so far. One of the ambitious goals of this Thesis is to contribute to identify planning and control frameworks solving classes of nonprehensile dynamic manipulation tasks, dealing with the non linearity of their dynamic models and, consequently, with the inherited design complexity. Besides, while passing through a number of connections between dynamic nonprehensile manipulation and legged locomotion, the Thesis presents novel methods for generating walking motions in multi-contact situations.

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