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

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Date
2014-09Author
Bhattacharjee, Tapomayukh
Grice, Phillip M.
Kapusta, Ariel
Killpack, Marc D.
Park, Daehyung
Kemp, Charles C.
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Show full item recordAbstract
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.