Many robotic manipulation systems are position-centric: the planner considers the position of objects and the robot, and during execution the arm controller maintains a prescribed position set point. For manipulation settings with requiring tasks like inserting a key, wiping a table, parts assembly, sliding, tool use, etc., position-based planning and control is not enough. Our goal is to allow planners to reason about forces and contacts between objects, and reason about the force-control and force-sensing capabilities of a robotic arm. On a robotic system, this requires the design of controllers and state estimators that use imperfect information from force, tactile, and position sensors
If you would like to contact us about our work, please scroll down to the people section and click on one of the group leads' people pages, where you can reach out to them directly.