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Exploiting contact interactions for robust manipulation and locomotion skills
Published on May 16, 20161655 Views
What are the algorithmic principles that would allow a robot to run through a rocky terrain, lift a couch while reaching for an object that rolled under it or manipulate a screwdriver while balancing
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Chapter list
Exploiting contact interactions for robust manipulation and locomotion skills00:00
Understanding the fundamental principles02:30
Fundamental principles of robotic movement - 104:23
Fundamental principles of robotic movement - 205:51
An impossible challenge?05:55
System Design09:09
Control of interaction forces10:28
Why control interaction forces? - 110:50
Why control interaction forces? - 212:08
Optimal distribution of contact forces - 113:19
Optimal distribution of contact forces - 214:59
Using redundancy to control multiple tasks - 115:18
Using redundancy to control multiple tasks - 215:44
Using redundancy to control multiple tasks - 315:57
Using redundancy to control multiple tasks - 416:05
Using redundancy to control multiple tasks - 516:24
The model: rigid body dynamics17:59
Definition of the tasks - 120:33
Definition of the tasks - 221:53
Definition of the tasks - 322:04
Definition of the tasks - 422:16
Hierarchical control as an optimization problem - 122:40
Hierarchical control as an optimization problem - 223:27
Hierarchical control of tasks - 124:29
Hierarchical control of tasks - 224:35
Hierarchical control of tasks - 324:39
Hierarchical control of tasks - 424:45
Hierarchical control of tasks - 524:51
Hierarchical control of tasks - 624:52
Hierarchical control of tasks - 724:53
Hierarchical control of tasks - 824:54
Hierarchical control of tasks - 925:11
Hierarchical control of tasks - 1025:13
Description of tasks - 125:40
Description of tasks - 225:50
Description of tasks - 326:14
Hierarchical control of tasks - 1126:58
Hierarchical control of tasks - 1227:05
Hierarchical control of tasks - 1327:33
Momentum-based control27:44
Trajectory optimization for momentum dynamics28:33
Whole-body planning decomposition30:19
Trajectory generation for multi-contact momentum-control - 130:53
Trajectory generation for multi-contact momentum-control - 231:43
Contact switching and balacing on one foot - 132:24
Balance control with LQR momentum control32:52
Contact switching and balacing on one foot - 233:17
Momentum, forces and kinematics planning - 133:54
Momentum, forces and kinematics planning - 233:57
Momentum, forces and kinematics planning - 334:09
Momentum estimation results34:29
Model-based control, planning and estimation35:06
Data-driven approaches - 136:06
Learning force control policies36:15
Learning force control policies for compliant manipulation37:01
Reactive movement primitives - 139:30
Reactive movement primitives - 240:33
Data-driven approaches - 242:29
Data-driven approaches - 343:44
Design of complete systems43:54
A complete system for manipulation - 143:56
Untitled44:56
A complete system for manipulation - 346:54
Conclusion48:25
The Movement Generation and Control Group49:08