Contact-Rich Manipulation of a Flexible Object based on Deep Predictive Learning using Vision and Tactility
Hideyuki Ichiwara,Hiroshi Ito,Kenjiro Yamamoto,Hiroki Mori,Tetsuya Ogata,Hideyuki Ichiwara,Hiroshi Ito,Kenjiro Yamamoto,Hiroki Mori,Tetsuya Ogata
We achieved contact-rich flexible object manipulation, which was difficult to control with vision alone. In the unzipping task we chose as a validation task, the gripper grasps the puller, which hides the bag state such as the direction and amount of deformation behind it, making it difficult to obtain information to perform the task by vision alone. Additionally, the flexible fabric bag state con...
