Learning to Rock-and-Walk: Dynamic, Non-Prehensile, and Underactuated Object Locomotion Through Reinforcement Learning
Abdullah Nazir,Xu Pu,Juan Rojas,Jungwon Seo,Abdullah Nazir,Xu Pu,Juan Rojas,Jungwon Seo
When moving objects that are too bulky or heavy to be grasped or lifted, robotic manipulation can benefit from the object's interaction with the support surface and its natural dynamics under gravity. In this work, we show that such dynamic, underactuated manipulation capability can be acquired through reinforcement learning and deployed on real robot systems. First, we present a framework to lear...
