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008181129s2018 |||||||||||||||||c||eng d
020 ▼a 9780438116603
035 ▼a (MiAaPQ)AAI10815683
035 ▼a (MiAaPQ)northwestern:14121
040 ▼a MiAaPQ ▼c MiAaPQ ▼d 248032
0820 ▼a 629.8
1001 ▼a Shi, Jian.
24510 ▼a Modeling and Motion Planning for In-Hand Sliding Manipulation.
260 ▼a [S.l.] : ▼b Northwestern University., ▼c 2018
260 1 ▼a Ann Arbor : ▼b ProQuest Dissertations & Theses, ▼c 2018
300 ▼a 129 p.
500 ▼a Source: Dissertation Abstracts International, Volume: 79-11(E), Section: B.
500 ▼a Includes supplementary digital materials.
500 ▼a Adviser: Kevin M. Lynch.
5021 ▼a Thesis (Ph.D.)--Northwestern University, 2018.
520 ▼a This thesis studies the in-hand manipulation problem of repositioning finger contacts on an object by controlled sliding. In this thesis we investigate two versions of the problem. First for a multifingered hand with circle patch contacts, we pr
520 ▼a Secondly we study quasistatic in-hand sliding manipulation with spring-sliding compliant grasps. We focus on point-contact multi-fingered grasps and the goal is to achieve object regrasping by taking advantage of external contacts with the envir
590 ▼a School code: 0163.
650 4 ▼a Robotics.
650 4 ▼a Mechanical engineering.
690 ▼a 0771
690 ▼a 0548
71020 ▼a Northwestern University. ▼b Mechanical Engineering.
7730 ▼t Dissertation Abstracts International ▼g 79-11B(E).
773 ▼t Dissertation Abstract International
790 ▼a 0163
791 ▼a Ph.D.
792 ▼a 2018
793 ▼a English
85640 ▼u http://www.riss.kr/pdu/ddodLink.do?id=T14998191 ▼n KERIS
980 ▼a 201812 ▼f 2019
990 ▼a 관리자