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- W1898967462 abstract "We present an initial demonstration of dexterous mobility using the uBot-5, a dynamically balancing mobile manipulator. Dexterous mobility refers generally to a level of bodily resourcefulness that permits the autonomous reassignment of effectors for the purpose of maintaining mobility in a variety of situations. We begin by describing a set of postural stability controllers in terms of a small number of simple control objectives. We then show how the resulting postures support dexterous mobility by enabling a new “knuckle walking” mobility mode. In a preliminary experiment, we develop this mobility mode by formulating a practical reinforcement learning problem that allows the robot to learn an efficient gait on-line in a single trial." @default.
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- W1898967462 date "2009-06-22" @default.
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- W1898967462 title "Dexterous mobility with the uBot-5 mobile manipulator" @default.
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