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Reference TypeJournal Article
Author(s)Righetti, L.;Kalakrishnan, M.;Pastor, P.;Binney, J.;Kelly, J.;Voorhies, R. C.;Sukhatme, G. S.;Schaal, S.
TitleAn autonomous manipulation system based on force control and optimization
Journal/Conference/Book TitleAuton. Robots
Keywordsforce control, optimal control, redundancy, whole body control
AbstractIn this paper we present an architecture for autonomous manipulation. Our approach is based on the belief that contact interactions during manipulation should be exploited to improve dexterity and that optimizing motion plans is useful to create more robust and repeatable manipu- lation behaviors. We therefore propose an architecture where state of the art force/torque control and optimization-based motion planning are the core components of the system. We give a detailed description of the modules that constitute the complete system and discuss the challenges inherent to creat- ing such a system. We present experimental results for several grasping and manipulation tasks to demonstrate the perfor- mance and robustness of our approach.
PublisherSpringer US
Short TitleAn autonomous manipulation system based on force control and optimization
Custom 3papers3://publication/uuid/835CD688-31FE-4396-B0B3-B4BF95B6C6F4
Accession Number1773902520
Electronic Resource Number10.1007/s10514-013-9365-9
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