Recovering from External Disturbances in Online Manipulation through State-Dependent Revertive Recovery Policies
Recovering from External Disturbances in Online Manipulation through State-Dependent Revertive Recovery Policies
Robots are increasingly entering uncertain and unstructured environments. Within these, robots are bound to face unexpected external disturbances like accidental human or tool collisions. Robots must develop the capacity to respond to unexpected events. That is not only identifying the sudden anomaly, but also deciding how to handle it. In …