Title:
A Robotic System for Reaching in Dense Clutter that Integrates Model Predictive Control, Learning, Haptic Mapping, and Planning
A Robotic System for Reaching in Dense Clutter that Integrates Model Predictive Control, Learning, Haptic Mapping, and Planning
Author(s)
Bhattacharjee, Tapomayukh
Grice, Phillip M.
Kapusta, Ariel
Killpack, Marc D.
Park, Daehyung
Kemp, Charles C.
Grice, Phillip M.
Kapusta, Ariel
Killpack, Marc D.
Park, Daehyung
Kemp, Charles C.
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Abstract
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.
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Date Issued
2014-09
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Text
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Post-print
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Proceedings