Patrick Lancaster

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—We first describe a robot that solves the Rubik's cube using separate task and motion planning with sensor-enabled closed-loop execution. The task solver uses iterative deepening A-star to plan the sequence of cube moves. Then a special-purpose grasp planner and controller places the manipulator hands on the cube to execute the task plan. The task requires(More)
— Robotic grasping has been hindered by the inability of robots to perceive unstructured environments. Because these environments can be complex or dynamic, it is important to obtain additional and precise sensing information just before grasping. This paper expands upon the pretouch modality by introducing a transmissive optical sensor. It can(More)
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