Tactile regrasp of objects with dynamic center-of-mass

• Main Author: Than, Duc Huy
• Other Authors: Lin Zhiping
• Format: Final Year Project
• Language: English
• Published: Nanyang Technological University 2023
• Subjects: Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
• Online Access: https://hdl.handle.net/10356/167487
• Institution: Nanyang Technological University

Many household objects have a container-like shape, with contents that can move inside. When the contents are heavier than the container, their movement can cause the object’s center of mass (CoM) to shift. If a robot grasps the object far from the CoM, this can induce rotation and create a moving t...