(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.