4 accepted papers
The Robotic Space Simulator was developed as a physical simulation for in-space manipulation tasks. It incorporates external inputs to its dynamics simulation via force/torque sensors mounted to the 2 6-DoF Stewart platforms which compose its primary structure. Each platform is augmented with an add
Performing a manipulation contact task in an unknown and unstructured environment is still a challenge. Learning from Demonstration (LfD) techniques provide an intuitive means to define difficult-to-model contact tasks, but have attributes that make them undesirable for novice users in uncertain env…
Recent studies utilizing Affordance Templates to perform remote contact manipulation tasks with mobile manipulators have demonstrated their usefulness for modeling complex tasks allowing robots to work in uncertain environments. These efforts largely fall into the “supervised autonomy” paradigm wher
Using robotic manipulators to remotely perform real-world complex contact tasks is challenging whether tasks are known (due to uncertainty) or unknown a priori (lack of motion waypoints, force profiles, etc.). For known tasks we can integrate and utilize Affordance Templates with a selective complia…