Semi-Empirical Simulation of Learned Force Response Models for Heterogeneous Elastic Objects
Yifan Zhu,Kai Lu,Kris Hauser,Yifan Zhu,Kai Lu,Kris Hauser
This paper presents a semi-empirical method for simulating contact with elastically deformable objects whose force response is learned using entirely data-driven models. A point-based surface representation and an inhomogeneous, nonlinear force response model are learned from a robotic arm acquiring force-displacement curves from a small number of poking interactions. The simulator then estimates ...
