Tactile-Informed Action Primitives Mitigate Jamming in Dense Clutter
Dane Brouwer,Joshua Citron,Hojung Choi,Marion Lepert,Michael Lin,Jeannette Bohg,Mark Cutkosky,Dane Brouwer,Joshua Citron,Hojung Choi,Marion Lepert,Michael Lin,Jeannette Bohg,Mark Cutkosky
It is difficult for robots to retrieve objects in densely cluttered lateral access scenes with movable objects as jamming against adjacent objects and walls can inhibit progress. We propose the use of two action primitives— burrowing and excavating—that can fluidize the scene to unjam obstacles and enable continued progress. Even when these primitives are implemented in an open loop manner at cloc...
