• Login
    View Item 
    •   SMARTech Home
    • Georgia Tech Interdisciplinary Research Centers (IRCs)
    • Rehabilitation Engineering Research Center on Technologies to Support Aging-in-Place for People with Long-Term Disabilities (RERC TechSAge)
    • RERC TechSAge Publications
    • View Item
    •   SMARTech Home
    • Georgia Tech Interdisciplinary Research Centers (IRCs)
    • Rehabilitation Engineering Research Center on Technologies to Support Aging-in-Place for People with Long-Term Disabilities (RERC TechSAge)
    • RERC TechSAge Publications
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    A Robotic System for Reaching in Dense Clutter that Integrates Model Predictive Control, Learning, Haptic Mapping, and Planning

    Thumbnail
    View/Open
    iros2014ws_system.pdf (2.410Mb)
    Date
    2014-09
    Author
    Bhattacharjee, Tapomayukh
    Grice, Phillip M.
    Kapusta, Ariel
    Killpack, Marc D.
    Park, Daehyung
    Kemp, Charles C.
    Metadata
    Show full item record
    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.
    URI
    http://hdl.handle.net/1853/53336
    Collections
    • RERC TechSAge Publications [30]
    • Healthcare Robotics Lab Publications [55]

    Browse

    All of SMARTechCommunities & CollectionsDatesAuthorsTitlesSubjectsTypesThis CollectionDatesAuthorsTitlesSubjectsTypes

    My SMARTech

    Login

    Statistics

    View Usage StatisticsView Google Analytics Statistics
    • About
    • Terms of Use
    • Contact Us
    • Emergency Information
    • Legal & Privacy Information
    • Accessibility
    • Accountability
    • Accreditation
    • Employment
    • Login
    Georgia Tech

    © Georgia Institute of Technology

    • About
    • Terms of Use
    • Contact Us
    • Emergency Information
    • Legal & Privacy Information
    • Accessibility
    • Accountability
    • Accreditation
    • Employment
    • Login
    Georgia Tech

    © Georgia Institute of Technology