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https://scholarbank.nus.edu.sg/handle/10635/249473
| Title: | CALIBRATION, CONTROL AND SENSING OF SMALLER-SIZED HUMANOIDS AND MANIPULATORS | Authors: | JIANG BOREN | ORCID iD: |  orcid.org/0000-0002-6569-6382 |
Keywords: | Humanoids, Control, Planning, Calibration | Issue Date: | 1-Feb-2024 | Citation: | JIANG BOREN (2024-02-01). CALIBRATION, CONTROL AND SENSING OF SMALLER-SIZED HUMANOIDS AND MANIPULATORS. ScholarBank@NUS Repository. | Abstract: | This thesis presents a series of innovative methods for enhancing the capabilities of smaller-sized humanoid robots in self-calibration and object manipulation, leveraging custom-built force-sensing devices. It also delves into estimating the inertia parameters of unknown objects for manipulators without relying on force sensors. | URI: | https://scholarbank.nus.edu.sg/handle/10635/249473 |
| Appears in Collections: | Ph.D Theses (Open) |
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| File | Description | Size | Format | Access Settings | Version | |
|---|---|---|---|---|---|---|
| JiangB.pdf | 25.27 MB | Adobe PDF | OPEN | None | View/Download |
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