Motion Planning with Competency-Aware Transition Models for Underactuated Adaptive Hands
Avishai Sintov,Andrew Kimmel,Kostas E. Bekris,Abdeslam Boularias,Avishai Sintov,Andrew Kimmel,Kostas E. Bekris,Abdeslam Boularias
Underactuated adaptive hands simplify grasping tasks but it is difficult to model their interactions with objects during in-hand manipulation. Learned data-driven models have been recently shown to be efficient in motion planning and control of such hands. Still, the accuracy of the models is limited even with the addition of more data. This becomes important for long horizon predictions, where er...
