Here's what sets the contact-based approach apart:
Collision-Exploiting Motions: Contrary to traditional collision-free planning, a methodology utilizes intentional contact with the environment, a radical shift that remarkably enhances motion certainty.
Innovative Algorithms: I've designed cutting-edge algorithms that exploit environmental contact, minimizing the need to explore irrelevant regions and effectively reducing state uncertainty.
Empirical Validation: Rigorous simulations and real-robot experiments validate the effectiveness of our algorithms in high-dimensional problems and increased state uncertainty scenarios.
Novel EC Concept Application: I've characterized a new environmental constraint in piles of nearly identical objects, simplifying complex tasks like grasping from piles through the natural interaction forces between the robot, objects, and environment.
Practical Application and Integration: My research culminates in the Soft Manipulation System, showcasing the practical application of EC exploitation in a modular, integrated robotic system.
My thesis advances the field of EC-based manipulation and motion planning and proposes a new paradigm in robotics. By blurring the lines between control, perception, and planning, we can shift the burden of manipulation from the robot to the environment. This revolutionary approach promises to redefine how robots interact with their surroundings, making them more adaptable, efficient, and capable in various applications, from industrial automation to service robotics.