Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation

A kitchen assistant needs to operate human-scale objects, such as cabinets and ovens, in unmapped environments with dynamic obstacles. Autonomous interactions in such environments require integrating dexterous manipulation and fluid mobility. While mobile manipulators in different form factors provi...

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Veröffentlicht in:	arXiv.org 2022-03
Hauptverfasser:	Mittal, Mayank, Hoeller, David, Farshidian, Farbod, Hutter, Marco, Garg, Animesh
Format:	Artikel
Sprache:	eng
Schlagworte:	Adaptive control Barriers Cabinets Computer Science - Artificial Intelligence Computer Science - Robotics Control methods Kitchens Ovens Unknown environments
Online-Zugang:	Volltext
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