Mobile Manipulation in Unknown Environments with Differential Inverse Kinematics Control

Описание к видео 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/...

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