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A Robotic System for Reaching in Dense Clutter that Integrates Model Predictive Control, Learning, Haptic Mapping, and Planning
(Georgia Institute of Technology, 2014-09)
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 ...
Data-Driven Haptic Perception for Robot-Assisted Dressing
(Georgia Institute of Technology, 2016-08)
Dressing is an important activity of daily living (ADL) with which many people require assistance due to impairments. Robots have the potential to provide dressing assistance, but physical interactions between clothing ...