A Dynamical System Approach for Adaptive Grasping, Navigation and Co-Manipulation with Humanoid Robots
Nadia Figueroa,Salman Faraji,Mikhail Koptev,Aude Billard,Nadia Figueroa,Salman Faraji,Mikhail Koptev,Aude Billard
We present an integrated approach that provides compliant control of an iCub humanoid robot and adaptive reaching, grasping, navigating and co-manipulating capabilities. We use state-dependent dynamical systems (DS) to (i) coordinate and drive the robots hands (in both position and orientation) to grasp an object using an intermediate virtual object, and (ii) drive the robot's base while walking/n...
