Easing Reliance on Collision-free Planning with Contact-aware Control
Tao Pang,Russ Tedrake,Tao Pang,Russ Tedrake
We believe that the future of robot motion planning will look very different than how it looks today: instead of complex collision avoidance trajectories with a brittle dependence on sensing and estimation of the environment, motion plans should consist of smooth, simple trajectories and be executed by robots that are not afraid of making contact. Here we present a “contact-aware” controller which...
