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

Miao Li, Hang Yin, Kenji Tahara, Aude Billard

研究成果: ジャーナルへの寄稿Conference article

30 引用 (Scopus)

抄録

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.

元の言語英語
記事番号6907861
ページ(範囲)6784-6791
ページ数8
ジャーナルProceedings - IEEE International Conference on Robotics and Automation
DOI
出版物ステータス出版済み - 9 22 2014
イベント2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, 中国
継続期間: 5 31 20146 7 2014

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Wine
Demonstrations
Stiffness
Glass
Sensors

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

これを引用

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

:: Proceedings - IEEE International Conference on Robotics and Automation, 22.09.2014, p. 6784-6791.

研究成果: ジャーナルへの寄稿Conference article

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