RMPs for Safe Impedance Control in Contact-Rich Manipulation
Seiji Shaw,Ben Abbatematteo,George Konidaris,Seiji Shaw,Ben Abbatematteo,George Konidaris
Variable impedance control in operation-space is a promising approach to learning contact-rich manipulation behaviors. One of the main challenges with this approach is producing a manipulation behavior that ensures the safety of the arm and the environment. Such behavior is typically implemented via a reward function that penalizes unsafe actions (e.g. obstacle collision, joint limit extension), b...
