TY - GEN
T1 - Learning object-level impedance control for robust grasping and dexterous manipulation
AU - Li, Miao
AU - Yin, Hang
AU - Tahara, Kenji
AU - Billard, Aude
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/9/22
Y1 - 2014/9/22
N2 - Object-level impedance control is of great importance for object-centric tasks, such as robust grasping and dexterous manipulation. Despite the recent progress on this topic, how to specify the desired object impedance for a given task remains an open issue. In this paper, we decompose the object's impedance into two complementary components-The impedance for stable grasping and impedance for object manipulation. Then, we present a method to learn the desired object's manipulation impedance (stiffness) using data obtained from human demonstration. The approach is validated in two tasks, for robust grasping of a wine glass and for inserting a bulb, using the 16 degrees of freedom Allegro Hand mounted with the SynTouch tactile sensors.
AB - Object-level impedance control is of great importance for object-centric tasks, such as robust grasping and dexterous manipulation. Despite the recent progress on this topic, how to specify the desired object impedance for a given task remains an open issue. In this paper, we decompose the object's impedance into two complementary components-The impedance for stable grasping and impedance for object manipulation. Then, we present a method to learn the desired object's manipulation impedance (stiffness) using data obtained from human demonstration. The approach is validated in two tasks, for robust grasping of a wine glass and for inserting a bulb, using the 16 degrees of freedom Allegro Hand mounted with the SynTouch tactile sensors.
UR - http://www.scopus.com/inward/record.url?scp=84929208215&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84929208215&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2014.6907861
DO - 10.1109/ICRA.2014.6907861
M3 - Conference contribution
AN - SCOPUS:84929208215
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 6784
EP - 6791
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Y2 - 31 May 2014 through 7 June 2014
ER -