Volume 32 Issue 4 - Publication Date: April 2013

Reaching in clutter with whole-arm tactile sensing

Advait Jain, Marc D Killpack, Aaron Edsinger and Charles C Kemp

The International Journal of Robotics Research 2013 32: 458–482

Downloadable Files

"Simple” impedance controller and low stiffness at the joints for the robot Cody, described in Section 3.2.1. (2.28 mb)
First example in software simulation where MPC with feedback from force–torque sensor fails but MPC with tactile sensing succeeds, described in Section 6.3.2. (12.9 mb)
Second example in software simulation where MPC with feedback from force– torque sensor fails but MPC with tactile sensing succeeds, described in Section 6.3.2. (11.0 mb)
Additional high-level control layer in a simplified environment in software simulation, described in Section 6.4. (6.47 mb)
Test of MPC as part of a fully autonomous system within the hardware-in-the-loop testbed, described in Section 7.1.2 (9.23 mb)
Illustrative example of reaching in foliage using the real forearm tactile sensor, described in Section 7.2.1. (30.6 mb)
Illustrative example of reaching through the opening of a cinder block the real forearm tactile sensor, described in Section 7.2.1. (26.0 mb)
MPC vs. baseline controller in foliage using forearm tactile sensor, described in Section 7.2.2. (29.0 mb)
Code, instructions and data to reproduce results within the software simulation testbed (Section 6) (313 kb)

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