Simultaneous Tactile Estimation and Control of Extrinsic Contact

We propose a method that simultaneously estimates and controls extrinsic contact with tactile feedback. The method enables challenging manipulation tasks that require controlling light forces and accurate motions in contact, such as balancing an unknown object on a thin rod standing upright. A facto...

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Bibliographische Detailangaben

Hauptverfasser:	Kim, Sangwoon, Jha, Devesh K, Romeres, Diego, Patre, Parag, Rodriguez, Alberto
Format:	Artikel
Sprache:	eng
Schlagworte:	Computer Science - Robotics
Online-Zugang:	Volltext bestellen
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