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Teaching robots about human environments: Leveraging human interaction to efficiently learn and use multisensory object affordances
(Georgia Institute of Technology, 2018-01-09)
The real world is complex, unstructured, and contains high levels of uncertainty. Although past work shows that robots can successfully operate in situations where a single skill is needed, they will need a framework that ...
Mobile manipulation in unstructured environments with haptic sensing and compliant joints
(Georgia Institute of Technology, 2012-08-22)
We make two main contributions in this thesis. First, we present our approach to robot manipulation, which emphasizes the benefits of making contact with the world across all the surfaces of a manipulator with whole-arm ...