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 |
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Article number | 6907861 |
Pages (from-to) | 6784-6791 |
Number of pages | 8 |
Journal | Proceedings - IEEE International Conference on Robotics and Automation |
DOIs | |
Publication status | Published - Sep 22 2014 |
Event | 2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China Duration: May 31 2014 → Jun 7 2014 |
All Science Journal Classification (ASJC) codes
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering