Toward Fine Contact Interactions: Learning to Control Normal Contact Force with Limited Information
Jinda Cui,Jiawei Xu,David Saldana,Jeff Trinkle,Jinda Cui,Jiawei Xu,David Saldana,Jeff Trinkle
Dexterous manipulation of objects through fine control of physical contacts is essential for many important tasks of daily living. A fundamental ability underlying fine contact control is compliant control, i.e., controlling the contact forces while moving. For robots, the most widely explored approaches heavily depend on models of manipulated objects and expensive sensors to gather contact locati...
