The researchers tested the new algorithm on a physical setup with a three-way interaction, in which a simple robotic gripper was holding a T-shaped block and pushing against a vertical bar. They used multiple starting configurations, with the robot gripping the block at a particular position and pushing it against the bar from a certain angle. For each starting configuration, the algorithm instantly generated the map of all the possible forces that the robot could apply and the position of the block that would result.
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