The exploration of confined, occluded, and partially known spaces poses significant challenges in robotic manipulation. The overall pose of the robotic arm must be carefully controlled to respect tight geometric constraints while avoiding newly discovered obstacles. We address this problem by proposing an active explor …
Virtual Model Control (VMC) is an approach to design a controller for force-controlled robots in complex uncertain environments. While this method was primarily investigated for legged robot locomotion in the past, it can be more generally applicable to other types of robotic systems. This paper investigates the VMC fr …
Dexterous robot hands must often grasp objects whose shape, size, and pose are known only approximately. Grasp planners typically require accurate object models or correct errors with feedback, but how much inaccuracy a closing motion can tolerate on its own remains unclear. To address this question, we designed a moti …