Generalized compliant motion with sensor fusion

A task execution primitive has been developed which merges compliant motion with the fusion of real and virtual sensory data for execution of general manipulation tasks. The behavior of the primitive is specified by an input parameter set. Motion can be caused by a variety of inputs including a Cartesian trajectory generator, a wrist force-torque sensor, dither waveforms, virtual springs, virtual joint limiting force fields, and 6 degree of freedom hand controllers. The primitive has been been used for a variety of autonomous and shared control tasks in the JPL telerobot testbed. The primitive provides autonomous control, compliant teleoperation, and shared control.<>