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The MIT Faculty has made this article openly available. Please share how this access benefits you. Your story matters. Abstract— We cast the partially observable control problem as a fully observable underactuated stochastic control problem in belief space and apply standard planning and control techniques. One of the difficulties of belief space planning(More)
The RRT* algorithm has recently been proposed as an optimal extension to the standard RRT algorithm [1]. However, like RRT, RRT* is difficult to apply in problems with complicated or underactuated dynamics because it requires the design of a two domain-specific extension heuristics: a distance metric and node extension method. We propose automatically(More)
The limited nature of robot sensors make many important robotics problems partially observable. These problems may require the system to perform complex information-gathering operations. One approach to solving these problems is to create plans in belief-space, the space of probability distributions over the underlying state of the system. The belief-space(More)
* Due to the large number of contributors toward this work, email addresses and physical addresses have been omitted. Please contact Kris Verdeyen from NASA-JSC at william.k.verdeyen@nasa.gov with any inquiries. Abstract In December 2013, sixteen teams from around the world gathered at Homestead Speedway near Miami, FL to participate in the DARPA Robotics(More)
— Existing tendon-driven fingers have applied force control through independent tension controllers on each tendon, i.e. in the tendon-space. The coupled kinematics of the tendons, however, cause such controllers to exhibit a transient coupling in their response. This problem can be resolved by alternatively framing the controllers in the joint-space of the(More)
NASA and General Motors have developed the second generation Robonaut, Robonaut 2 or R2, and it is scheduled to arrive on the International Space Station in early 2011 and undergo initial testing by mid-year. This state of the art, dexterous, anthropomorphic robotic torso has significant technical improvements over its predecessor making it a far more(More)
In dexterous manipulation, an object must be reconfigured while maintaining a stable grasp. This may require that the object be re-grasped in order to avoid finger workspace limits. We present a set of closed-loop controllers designed to achieve force-related objectives such as wrench closure, and show how they may be concurrently combined. Furthermore, we(More)
Tactile data from rugged gloves are providing the foundation for developing autonomous grasping skills for the NASA/DARPA Robonaut, a dexterous humanoid robot. These custom gloves compliment the human like dexterity available in the Robonaut hands. Multiple versions of the gloves are discussed, showing a progression in using advanced materials and(More)