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Robots in Human Environments

Robots in Human Environments. Basic Autonomous Capabilities O. Khatib et al. Presented by Andrew Lewis. Overview. Introduction Integration of Mobility and Manipulation Cooperative Manipulation Collision avoidance Conclusion. Introduction. Automated workers -> Automated helpers

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Robots in Human Environments

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  1. Robots in Human Environments Basic Autonomous Capabilities O. Khatib et al. Presented by Andrew Lewis

  2. Overview • Introduction • Integration of Mobility and Manipulation • Cooperative Manipulation • Collision avoidance • Conclusion

  3. Introduction • Automated workers -> Automated helpers • “Synergy of the human/robot team…” • What is needed for this transition?

  4. Integration of Mobility and Manipulation • Macro/mini structures • Minimize instantaneous kinetic energy

  5. Cooperative Manipulation • Augmented object and virtual linkage model • Centralized -> Decentralized control structure

  6. Collision-Free Path Modification Behaviors • Elastic bands and bubbles • Elastic Strip and protective hulls -> elastic tunnel • Dynamically modify motion in response to environment

  7. Conclusion • Stanford mobile platform • Basic necessary capabilities • Mobility/Manipulation • Cooperation • Collision avoidance

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