Basic Autonomous Capabilities O. Khatib et al. Presented by Andrew Lewis.

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Presentation transcript:

Basic Autonomous Capabilities O. Khatib et al. Presented by Andrew Lewis

 Introduction  Integration of Mobility and Manipulation  Cooperative Manipulation  Collision avoidance  Conclusion

 Automated workers -> Automated helpers ◦ “Synergy of the human/robot team…”  What is needed for this transition?

 Macro/mini structures  Minimize instantaneous kinetic energy

 Augmented object and virtual linkage model  Centralized -> Decentralized control structure

 Elastic bands and bubbles  Elastic Strip and protective hulls -> elastic tunnel  Dynamically modify motion in response to environment

 Stanford mobile platform  Basic necessary capabilities ◦ Mobility/Manipulation ◦ Cooperation ◦ Collision avoidance