Now showing items 1-4 of 4
Learning to Reach into the Unknown: Selecting Initial Conditions When Reaching in Clutter
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-09)
Often in highly-cluttered environments, a robot can observe the exterior of the environment with ease, but cannot directly view nor easily infer its detailed internal structure (e.g., dense ...
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 ...
Interleaving Planning and Control for Efficient Haptically-guided Reaching in Unknown Environments
(Georgia Institute of Technology, 2014)
We present a new method for reaching in an initially unknown environment with only haptic sensing. In this paper, we propose a haptically-guided interleaving planning and control (HIPC) method with a haptic mapping ...
Collaboration Between a Robotic Bed and a Mobile Manipulator May Improve Physical Assistance for People with Disabilities
(Georgia Institute of Technology, 2016-08)
We present a robotic system designed to provide physical assistance to a person in bed. The system consists of a robotic bed (Autobed) and a mobile manipulator (PR2) that work together. The 3 degree-of-freedom (DoF) ...