Task-centric optimization of configurations for assistive robots

@article{Kapusta2018TaskcentricOO,
  title={Task-centric optimization of configurations for assistive robots},
  author={Ariel Kapusta and Charles C. Kemp},
  journal={Autonomous Robots},
  year={2018},
  pages={1-22}
}
Robots can provide assistance to a human by moving objects to locations around the person’s body. With a well-chosen initial configuration, a robot can better reach locations important to an assistive task despite model error, pose uncertainty, and other sources of variation. However, finding effective configurations can be challenging due to complex geometry, a large number of degrees of freedom, task complexity, and other factors. We present task-centric optimization of robot configurations… 

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