Integrated Perception and Control for Autonomous Manipulation (Talk)

In this talk we will give an overview of research efforts within autonomous manipulation at the AASS Research Center, Örebro University, Sweden. We intend to give a holistic view on the historically separated subjects of robot motion planning and control. In particular, viewing motion behavior generation as an optimal control problem allows for a unified formulation that is uncluttered by a-priori domain assumptions and simplified solution strategies. Furthermore, We will also discuss the problems of workspace modeling and perception and how to integrate them in the overarching problem of autonomous manipulation.