Towards an Online Framework for Changing-Contact Robot Manipulation Tasks
Saif Sidhik,Mohan Sridharan,Dirk Ruiken,Saif Sidhik,Mohan Sridharan,Dirk Ruiken
We describe a framework for changing-contact robot manipulation tasks, which require the robot to make and break contacts with objects and surfaces. The discontinuous interaction dynamics of such tasks make it difficult to construct and use a single dynamics model or control strategy for such tasks. For any target motion trajectory, our framework incrementally improves its prediction of when conta...
