Going In Blind: Object Motion Classification using Distributed Tactile Sensing for Safe Reaching in Clutter
Rachel Thomasson,Etienne Roberge,Mark R. Cutkosky,Jean-Philippe Roberge,Rachel Thomasson,Etienne Roberge,Mark R. Cutkosky,Jean-Philippe Roberge
Robotic manipulators navigating cluttered shelves or cabinets may find it challenging to avoid contact with obstacles. Indeed, rearranging obstacles may be necessary to access a target. Rather than planning explicit motions that place obstacles into a desired pose, we suggest allowing incidental contacts to rearrange obstacles while monitoring contacts for safety. Bypassing object identification, ...
