Mobile Manipulation in Unknown Environments with Differential Inverse Kinematics Control
We present a differential inverse kinematics control framework for task-space trajectory tracking, force regulation, obstacle and singularity avoidance, and pushing an object toward a goal location, with limited sensing and knowledge of the environment.
Presented at the Conference on Robots and Vision (CRV) 2021.
Researchers: Adam Heins, Michael Jakob, and Angela P. Schoellig
Paper: https://www.dynsyslab.org/wp-content/papercite-data/pdf/heins-crv21.pdf
Видео Mobile Manipulation in Unknown Environments with Differential Inverse Kinematics Control канала Learning Systems and Robotics Lab
Presented at the Conference on Robots and Vision (CRV) 2021.
Researchers: Adam Heins, Michael Jakob, and Angela P. Schoellig
Paper: https://www.dynsyslab.org/wp-content/papercite-data/pdf/heins-crv21.pdf
Видео Mobile Manipulation in Unknown Environments with Differential Inverse Kinematics Control канала Learning Systems and Robotics Lab
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20 мая 2021 г. 20:02:37
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