SwingBot: Learning Physical Features from In-hand Tactile Exploration for Dynamic Swing-up Manipulation
Chen Wang,Shaoxiong Wang,Branden Romero,Filipe Veiga,Edward Adelson,Chen Wang,Shaoxiong Wang,Branden Romero,Filipe Veiga,Edward Adelson
Several robot manipulation tasks are extremely sensitive to variations of the physical properties of the manipulated objects. One such task is manipulating objects by using gravity or arm accelerations, increasing the importance of mass, center of mass, and friction information. We present SwingBot, a robot that is able to learn the physical features of an held object through tactile exploration. ...
