Organizational Unit:
Healthcare Robotics Lab
Healthcare Robotics Lab
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.