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dc.contributor.authorJain, Advaiten_US
dc.contributor.authorKillpack, Marc D.en_US
dc.contributor.authorEdsinger, Aaronen_US
dc.contributor.authorKemp, Charles C.en_US
dc.date.accessioned2013-12-19T17:49:08Z
dc.date.available2013-12-19T17:49:08Z
dc.date.issued2013-04
dc.identifier.citationReaching in clutter with whole-arm tactile sensing, Advait Jain, Marc D. Killpack, Aaron Edsinger, and Charles C Kemp, The International Journal of Robotics Research April 2013 32: 458-482, first published on March 6, 2013 DOI: 10.1177/0278364912471865.en_US
dc.identifier.issn0278-3649
dc.identifier.issn1741-3176
dc.identifier.urihttp://hdl.handle.net/1853/49877
dc.descriptionThe final version of this paper has been published in The International Journal of Robotics Research, 32, April 2013 by SAGE Publications Ltd, All rights reserved. ©The authors, 2013. It is available at: http://ijr.sagepub.com/content/32/4/458.en_US
dc.descriptionDOI: 10.1177/0278364912471865.en_US
dc.description.abstractClutter creates challenges for robot manipulation, including a lack of non-contact trajectories and reduced visibility for line-of-sight sensors. We demonstrate that robots can use whole-arm tactile sensing to perceive clutter and maneuver within it, while keeping contact forces low. We first present our approach to manipulation, which emphasizes the benefits of making contact across the entire manipulator and assumes the manipulator has low-stiffness actuation and tactile sensing across its entire surface. We then present a novel controller that exploits these assumptions. The controller only requires haptic sensing, handles multiple contacts, and does not need an explicit model of the environment prior to contact. It uses model predictive control with a time horizon of length one and a linear quasi-static mechanical model. In our experiments, the controller enabled a real robot and a simulated robot to reach goal locations in a variety of environments, including artificial foliage, a cinder block, and randomly generated clutter, while keeping contact forces low. While reaching, the robots performed maneuvers that included bending objects, compressing objects, sliding objects, and pivoting around objects. In simulation, whole-arm tactile sensing also outperformed per-link force–torque sensing in moderate clutter, with the relative benefits increasing with the amount of clutter.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectManipulationen_US
dc.subjectForce and tactile sensingen_US
dc.subjectMechanicsen_US
dc.subjectDesign and controlen_US
dc.titleReaching in clutter with whole-arm tactile sensingen_US
dc.typeArticleen_US
dc.contributor.corporatenameGeorgia Institute of Technology. Healthcare Robotics Laben_US
dc.contributor.corporatenameMeka Roboticsen_US
dc.contributor.corporatenameGeorgia Institute of Technology. Institute for Robotics and Intelligent Machinesen_US
dc.publisher.originalSageen_US
dc.identifier.doi10.1177/0278364912471865


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