Dextrous Tactile In-Hand Manipulation Using a Modular Reinforcement Learning Architecture
Johannes Pitz,Lennart Röstel,Leon Sievers,Berthold Bäuml,Johannes Pitz,Lennart Röstel,Leon Sievers,Berthold Bäuml
Dextrous in-hand manipulation with a multi-fingered robotic hand is a challenging task, esp. when performed with the hand oriented upside down, demanding permanent force-closure, and when no external sensors are used. For the task of reorienting an object to a given goal orientation (vs. infinitely spinning it around an axis), the lack of external sensors is an additional fundamental challenge as ...
