December 2012
Intermediate to advanced
192 pages
7h 37m
English
Content preview from Minimalist Mobile Robotics
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60
3.
Manipulation
Again, we do not try to build a tactile model of the robot's
surroundings and then plan a path through it. Rather, the overall
pattern of actions is determined on the fly by the specific
configuration of the environment.
The collective behavior of this level bears a passing
similarity to the generalized damper control scheme [Lozano-
Pérez, Mason, and Taylor 84; Erdmann 85]. In these systems an
arm is given some velocity vector to follow. If the arm contacts a
surface and is unable to move directly along the commanded
direction, the velocity error is transformed into a force normal to
the surface. The manipulator is still
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