Title

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

Keywords

robotic system, model predictive control, haptic mapping

Abstract

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.

Document Type

Peer-Reviewed Article

Publication Date

2014

Publisher

RERC TechSAge Publications

Language

English

College

Ira A. Fulton College of Engineering and Technology

Department

Mechanical Engineering

University Standing at Time of Publication

Assistant Professor

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