An autonomous manipulation system based on force control and optimization

In this paper we present an architecture for autonomous manipulation. Our approach is based on the belief that contact interactions during manipulation should be exploited to improve dexterity and that optimizing motion plans is useful to create more robust and repeatable manipulation behaviors. We...

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Veröffentlicht in:	Autonomous robots 2014, Vol.36 (1-2), p.11-30
Hauptverfasser:	Righetti, Ludovic, Kalakrishnan, Mrinal, Pastor, Peter, Binney, Jonathan, Kelly, Jonathan, Voorhies, Randolph C., Sukhatme, Gaurav S., Schaal, Stefan
Format:	Artikel
Sprache:	eng
Schlagworte:	Architecture Artificial Intelligence Computer Imaging Control Engineering Mechatronics Pattern Recognition and Graphics Robotics Robotics and Automation Vision
Online-Zugang:	Volltext
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