Learning Object-level Impedance Control for Robust Grasping and Dexterous Manipulation
Li, Miao; Yin, Hang; Tahara, Kenji; Billard, Aude
2014

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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

Details

Title Learning Object-level Impedance Control for Robust Grasping and Dexterous Manipulation
Author(s) Li, Miao ; Yin, Hang ; Tahara, Kenji ; Billard, Aude
Published in 2014 IEEE International Conference on Robotics and Automation (ICRA)
Pages 6784-6791
Conference IEEE International Conference on Robotics and Automation (ICRA), HongKong, China, May 31-June 7, 2014
Date 2014
Keywords
DOI https://doi.org/10.1109/ICRA.2014.6907861
Additional link URL
Laboratories LASA
Record Appears in Scientific production and competences > STI - School of Engineering > IEM - Institut d'Electricité et de Microtechnique > LASA - Learning algorithms and systems Laboratory
Peer-reviewed publications
Conference Papers
Work produced at EPFL
Published
Record creation date 2014-02-11

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