Sensor-Based Reactive Execution of Symbolic Rearrangement Plans by a Legged Mobile Manipulator
We demonstrate the physical rearrangement of wheeled stools in a moderately cluttered indoor environment by a quadrupedal robot that autonomously achieves a user's desired configuration. The robot's behaviors are planned and executed by a three layer hierarchical architecture consisting of...
| Main Authors: | , , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
Institute of Electrical and Electronics Engineers (IEEE),
2020-05-21T20:02:53Z.
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| Subjects: | |
| Online Access: | Get fulltext |