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Rehabilitation Engineering Research Center on Technologies to Support Aging-in-Place for People with Long-Term Disabilities

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    A Robotic System for Reaching in Dense Clutter that Integrates Model Predictive Control, Learning, Haptic Mapping, and Planning
    (Georgia Institute of Technology, 2014-09) Bhattacharjee, Tapomayukh ; Grice, Phillip M. ; Kapusta, Ariel ; Killpack, Marc D. ; Park, Daehyung ; Kemp, Charles C.
    We present a system that enables a robot to reach locations in dense clutter using only haptic sensing. Our system integrates model predictive control [1], learned initial conditions [2], tactile recognition of object types [3], haptic mapping, and geometric planning to efficiently reach locations using whole- arm tactile sensing [4]. We motivate our work, present a system architecture, summarize each component of the system, and present results from our evaluation of the system reaching to target locations in dense artificial foliage.