We are attempting to create a new foundation for robot manipulation that encourages contact between the robot's arm and the world. A key aspect of our approach is that we assume the robot has compliant joints and whole-arm tactile sensing. These videos are from our research in this area.
You can learn more by visiting our lab website and by reading our 2013 paper published in IJRR.
Reaching in Clutter with Whole-Arm Tactile Sensing. Advait Jain, Marc D. Killpack, Aaron Edsinger, and Charles C. Kemp. The International Journal of Robotics Research, 2013.