Lazy Robot Control by Relaxation of Motion and Force Constraints

Djordje Vukcevic
Human and robot tasks in household environments include actions such as carrying an object, cleaning a surface, etc. These tasks are performed by means of dexterous manipulation, and for humans, they are straightforward to accomplish. Moreover, humans perform these actions with reasonable accuracy and precision but with much less energy and stress on the actuators (muscles) than the robots do. The high agility in controlling their forces and motions is actually due to "laziness", i.e....
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