Hierarchical control of soft manipulators towards unstructured interactions

Performing daily interaction tasks such as opening doors and pulling drawers in unstructured environments is a challenging problem for robots. The emergence of soft-bodied robots brings a new perspective to solving this problem. In this paper, inspired by humans performing interaction tasks through...

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Veröffentlicht in:	The International journal of robotics research 2021-01, Vol.40 (1), p.411-434
Hauptverfasser:	Jiang, Hao, Wang, Zhanchi, Jin, Yusong, Chen, Xiaotong, Li, Peijin, Gan, Yinghao, Lin, Sen, Chen, Xiaoping
Format:	Artikel
Sprache:	eng
Schlagworte:	Control methods Control systems Controllers Environment models Feedback control Motion control Robots
Online-Zugang:	Volltext
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