Dexterous Soft Hands Linearize Feedback-Control for In-Hand Manipulation
Adrian Sieler,Oliver Brock,Adrian Sieler,Oliver Brock
This paper presents a feedback-control framework for in-hand manipulation (IHM) with dexterous soft hands that enables the acquisition of manipulation skills in the real-world within minutes. We choose the deformation state of the soft hand as the control variable. To control for a desired deformation state, we use coarsley approximated Jacobians of the actuation-deformation dynamics. These Jacobi...
