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 |
|---|---|
| Resource language: | English |
| Title: | Motion planning and control methods for nonprehensile manipulation and multi-contact locomotion tasks |
| Creators: | Creators Email Serra, Diana diana.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: | nome email Riccio, Daniele daniele.riccio@unina.it |
| Tutor: | nome email Lippiello, Vincenzo UNSPECIFIED Ruggiero, Fabio UNSPECIFIED |
| Date: | 9 April 2017 |
| Number of Pages: | 138 |
| 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 |
Collection description
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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