English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Zendy Plus

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Zendy Tools

Zendy Open

We propose a method for planning motion for robots with actuation uncertaintythat incorporates contact with the environment and the compliance of the robotto reliably perform manipulation tasks. Our approach consists of two stages:(1) Generating partial policies using a sampling-based motion planner that usesparticle-based models of uncertainty and simulation of contact and compliance;and (2) Resilient execution that updates the planned policies to account forunexpected behavior in execution which may arise from model or environmentinaccuracy. We have tested our planner and policy execution in simulated SE(2)and SE(3) environments and Baxter robot. We show that our methods efficientlygenerate policies to perform manipulation tasks involving significant contactand compare against several simpler methods. Additionally, we show that ourpolicy adaptation is resilient to significant changes during execution; e.g.adding a new obstacle to the environment.

Planning and Resilient Execution of Policies For Manipulation in Contact with Actuation Uncertainty