Please use this identifier to cite or link to this item:
https://scholarbank.nus.edu.sg/handle/10635/249473
| DC Field | Value | |
|---|---|---|
| dc.title | CALIBRATION, CONTROL AND SENSING OF SMALLER-SIZED HUMANOIDS AND MANIPULATORS | |
| dc.contributor.author | JIANG BOREN | |
| dc.date.accessioned | 2024-08-13T02:38:16Z | |
| dc.date.available | 2024-08-13T02:38:16Z | |
| dc.date.issued | 2024-02-01 | |
| dc.identifier.citation | JIANG BOREN (2024-02-01). CALIBRATION, CONTROL AND SENSING OF SMALLER-SIZED HUMANOIDS AND MANIPULATORS. ScholarBank@NUS Repository. | |
| dc.identifier.uri | https://scholarbank.nus.edu.sg/handle/10635/249473 | |
| dc.description.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. | |
| dc.language.iso | en | |
| dc.subject | Humanoids, Control, Planning, Calibration | |
| dc.type | Thesis | |
| dc.contributor.department | MECHANICAL ENGINEERING | |
| dc.contributor.supervisor | Gregory Scott Chirikjian | |
| dc.description.degree | Ph.D | |
| dc.description.degreeconferred | DOCTOR OF PHILOSOPHY (CDE-ENG) | |
| dc.identifier.orcid | 0000-0002-6569-6382 | |
| Appears in Collections: | Ph.D Theses (Open) | |
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Files in This Item:
| File | Description | Size | Format | Access Settings | Version | |
|---|---|---|---|---|---|---|
| JiangB.pdf | 25.27 MB | Adobe PDF | OPEN | None | View/Download |
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