• Operating articulated objects based on experience 

      Sturm, Jürgen; Jain, Advait; Stachniss, Cyrill; Kemp, Charles C.; Burgard, Wolfram (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-10)
      Many tasks that would be of benefit to users in domestic environments require that robots manipulate articulated objects such as doors and drawers. In this paper, we present a novel approach that simultaneously estimates ...
    • Pulling Open Doors and Drawers: Coordinating an Omni-directional Base and a Compliant Arm with Equilibrium Point Control 

      Jain, Advait; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-05)
      Previously, we have presented an implementation of impedance control inspired by the Equilibrium Point Hypothesis that we refer to as equilibrium point control (EPC). We have demonstrated that EPC can enable a robot in a ...