IEEE - Institute of Electrical and Electronics Engineers, Inc. - Risk-sensitive interaction control in uncertain manipulation tasks

2013 IEEE International Conference on Robotics and Automation (ICRA)

Author(s): Jose Ramon Medina ; Dominik Sieber ; Sandra Hirche
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2013
Conference Location: Karlsruhe, Germany
Conference Date: 6 May 2013
Page(s): 502 - 507
ISBN (Electronic): 978-1-4673-5643-5
ISBN (Paper): 978-1-4673-5641-1
ISSN (Paper): 1050-4729
DOI: 10.1109/ICRA.2013.6630621
Regular:

Manipulation tasks are a great challenge for robots due to the uncertainty arising from unstructured environments. In this paper we propose a novel control scheme for contact tasks based on... View More

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