Constrained manipulation of objects

A robot comprising:

• an articulated arm having an end effector for engaging a constrained object having at least one constrained axis and at least one axis of freedom;
• data processing hardware in communication with the articulated arm;
• and
• memory hardware in communication with the data processing hardware, the memory hardware storing instructions that when executed on the data processing hardware cause the data processing hardware to perform operations comprising:
• receiving a measured task parameter set for the end effector, the measured task parameter set including position parameters defining a position of the end effector;
• identifying, using the measured task parameter set, the at least one axis of freedom and the at least one constrained axis for the constrained object;
• assigning a first impedance value to the end effector along the at least one axis of freedom of the constrained object and assigning a second impedance value to the end effector along the at least one constrained axis of the constrained object, the second impedance value indicating a greater amount of impedance than the first impedance value;
• and
• instructing the articulated arm to move the end effector along the at least one axis of freedom.

A computer program product encoded on a non-transitory computer readable storage medium connected to a robot including an articulated arm having an end effector for engaging a constrained object having at least one constrained axis and at least one axis of freedom, the computer program product comprising instructions that when executed by a data processing apparatus cause the data processing apparatus to perform operations comprising:

• receiving a measured task parameter set for the end effector, the measured task parameter set including position parameters defining a position of the end effector;
• identifying, using the measured task parameter set, the at least one axis of freedom and the at least one constrained axis for the constrained object;
• assigning a first impedance value to the end effector along the at least one axis of freedom of the constrained object and assigning a second impedance value to the end effector along the at least one constrained axis of the constrained object, the second impedance value indicating a greater amount of impedance than the first impedance value;
• and
• instructing the articulated arm to move the end effector along the at least one axis of freedom.