A Robotic System for Reaching in Dense Clutter that Integrates Model Predictive Control, Learning, Haptic Mapping, and Planning
Grice, Phillip M.
Killpack, Marc D.
Kemp, Charles C.
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We present a system that enables a robot to reach locations in dense clutter using only haptic sensing. Our system integrates model predictive control , learned initial conditions , tactile recognition of object types , haptic mapping, and geometric planning to efficiently reach locations using whole- arm tactile sensing . 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.