Learning Robotic Assembly Tasks with Lower Dimensional Systems by Leveraging Physical Softness and Environmental Constraints
Masashi Hamaya,Robert Lee,Kazutoshi Tanaka,Felix von Drigalski,Chisato Nakashima,Yoshiya Shibata,Yoshihisa Ijiri,Masashi Hamaya,Robert Lee,Kazutoshi Tanaka,Felix von Drigalski,Chisato Nakashima,Yoshiya Shibata,Yoshihisa Ijiri
In this study, we present a novel control framework for assembly tasks with a soft robot. Typically, existing hard robots require high frequency controllers and precise force/torque sensors for assembly tasks. The resulting robot system is complex, entailing large amounts of engineering and maintenance. Physical softness allows the robot to interact with the environment easily. We expect soft robo...
