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 present a framework for planning the motion of the hand to create an...
Intelligent behavior in humans is largely associated with encoding information to discrete symbols. However, symbolic behavior in robotic systems is not widespread, mainly due to lack of tools that constitute symbol-based automation implementable in real time. This thesis proposes real-time algorithms that facilitate and promote symbol-based action and sensing. In...