University of Massachusetts Amherst ScholarWorks@UMass Amherst Open Access Dissertations 5-2010 Whole-Body Strategies for Mobility and Manipulation Patrick Deegan University of Massachusetts Amherst Follow this and additional works at: https://scholarworks.umass.edu/open_access_dissertations Part of the Computer Sciences Commons Recommended Citation Deegan, Patrick, "Whole-Body Strategies for Mobility and Manipulation" (2010). Open Access Dissertations. 211. https://scholarworks.umass.edu/open_access_dissertations/211 This Open Access Dissertation is brought to you for free and open access by ScholarWorks@UMass Amherst. It has been accepted for inclusion in Open Access Dissertations by an authorized administrator of ScholarWorks@UMass Amherst. For more information, please contact
[email protected]. WHOLE-BODY STRATEGIES FOR MOBILITY AND MANIPULATION A Dissertation Presented by PATRICK DEEGAN Submitted to the Graduate School of the University of Massachusetts Amherst in partial fulfillment of the requirements for the degree of DOCTOR OF PHILOSOPHY May 2010 Computer Science c Copyright by Patrick Deegan 2010 All Rights Reserved WHOLE-BODY STRATEGIES FOR MOBILITY AND MANIPULATION A Dissertation Presented by PATRICK DEEGAN Approved as to style and content by: Roderic Grupen, Chair Oliver Brock, Member Andrew Barto, Member Richard Van Emmerik, Member Andrew Barto, Department Chair Computer Science To my family. ACKNOWLEDGMENTS I would like to thank my thesis advisor, Rod Grupen, for all his help, leadership, and support throughout my graduate school career. Rod’s vast knowledge, genius, and insight into robotics has been a constant inspiration. I feel very fortunate to have been a part of the Laboratory for Perceptual Robotics. The environment Rod created not only allowed me to develop my passion for robotics, but his understanding and patience allowed me to grow personally, overcome many obstacles, and develop the confidence I needed to bring this work to fruition.