Chapter 40 — Mobility and Manipulation

Reaching in clutter with whole-arm tactile sensing

In this video, our robot Cody attempts to reach to five different goal locations using four attempts (meaning four different base locations) for each goal. For each goal, we test our single-step, quasi-static, model-predictive controller against the performance of a baseline kinematic controller that has compliance at the joints.
Advait Jain, Marc D. Killpack, Aaron Edsinger, Charles C. Kemp