Mobile manipulation in unstructured environments with haptic sensing and compliant joints
We make two main contributions in this thesis. First, we present our approach to robot manipulation, which emphasizes the benefits of making contact with the world across all the surfaces of a manipulator with whole-arm tactile sensing and compliant actuation at the joints. In contrast, many current...
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Georgia Institute of Technology
2013
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| Online Access: | http://hdl.handle.net/1853/45788 |