An autonomous manipulation system based on force control and optimization

2014

Article

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In 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.

Author(s): Righetti, L. and Kalakrishnan, M. and Pastor, P. and Binney, J. and Kelly, J. and Voorhies, R. C. and Sukhatme, G. S. and Schaal, S.
Journal: Autonomous Robots
Volume: 36
Number (issue): 1-2
Pages: 11-30
Year: 2014
Month: Febuary
Publisher: Springer US

Department(s): Autonomous Motion, Movement Generation and Control
Research Project(s): Autonomous Robotic Manipulation
Bibtex Type: Article (article)
Paper Type: Journal

Cross Ref: p10594
DOI: 10.1007/s10514-013-9365-9
Language: English
Note: clmc
URL: http://link.springer.com/10.1007/s10514-013-9365-9http://link.springer.com/article/10.1007%2Fs10514-013-9365-9

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BibTex

@article{Righetti_AR_2013,
  title = {An autonomous manipulation system based on force control and optimization},
  author = {Righetti, L. and Kalakrishnan, M. and Pastor, P. and Binney, J. and Kelly, J. and Voorhies, R. C. and Sukhatme, G. S. and Schaal, S.},
  journal = {Autonomous Robots},
  volume = {36},
  number = {1-2},
  pages = {11-30},
  publisher = {Springer US},
  month = feb,
  year = {2014},
  note = {clmc},
  crossref = {p10594},
  url = {http://link.springer.com/10.1007/s10514-013-9365-9http://link.springer.com/article/10.1007%2Fs10514-013-9365-9},
  month_numeric = {2}
}