Learning object-level impedance control for robust grasping and dexterous manipulation

Miao Li; Hang Yin; Kenji Tahara; Aude Billard

doi:10.1109/ICRA.2014.6907861

Learning object-level impedance control for robust grasping and dexterous manipulation

Miao Li, Hang Yin, Kenji Tahara, Aude Billard

Control Systems

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

60 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	6784-6791
Number of pages	8
ISBN (Electronic)	9781479936854, 9781479936854
DOIs	https://doi.org/10.1109/ICRA.2014.6907861
Publication status	Published - Sept 22 2014
Event	2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China Duration: May 31 2014 → Jun 7 2014

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Other

Other	2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Country/Territory	China
City	Hong Kong
Period	5/31/14 → 6/7/14

All Science Journal Classification (ASJC) codes

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ICRA.2014.6907861

Cite this

Li, M., Yin, H., Tahara, K., & Billard, A. (2014). Learning object-level impedance control for robust grasping and dexterous manipulation. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 6784-6791). [6907861] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2014.6907861

Learning object-level impedance control for robust grasping and dexterous manipulation. / Li, Miao; Yin, Hang; Tahara, Kenji et al.

Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2014. p. 6784-6791 6907861 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Li, M, Yin, H, Tahara, K & Billard, A 2014, Learning object-level impedance control for robust grasping and dexterous manipulation. in Proceedings - IEEE International Conference on Robotics and Automation., 6907861, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 6784-6791, 2014 IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong, China, 5/31/14. https://doi.org/10.1109/ICRA.2014.6907861

Li M, Yin H, Tahara K, Billard A. Learning object-level impedance control for robust grasping and dexterous manipulation. In Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc. 2014. p. 6784-6791. 6907861. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA.2014.6907861

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Learning object-level impedance control for robust grasping and dexterous manipulation

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