We identified softness in robot control as well as robot perception as key enabling technologies for future service robots. Compliance in motion control compensates for small errors in model acquisition and estimation and enables safe physical interaction with humans. The perception of shape similarities and deformations allows a robot to adapt its skills to the object at hand, given a description of the skill that generalizes between different objects. In this chapter, we present our approaches to compliant control and object manipulation skill transfer for service robots. We report on evaluation results and public demonstrations of our approaches.
Perception of Deformable Objects and Compliant Manipulation for Service Robots
Soft Robotics ; Chapter : 7 ; 69-80
2015-03-14
12 pages
Article/Chapter (Book)
Electronic Resource
English
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