A review of tactile information: Perception and action through touch
Tactile sensing is a key sensor modality for robots interacting with their surroundings. These
sensors provide a rich and diverse set of data signals that contain detailed information …
sensors provide a rich and diverse set of data signals that contain detailed information …
In-hand object rotation via rapid motor adaptation
Generalized in-hand manipulation has long been an unsolved challenge of robotics. As a
small step towards this grand goal, we demonstrate how to design and learn a simple …
small step towards this grand goal, we demonstrate how to design and learn a simple …
Hand posture subspaces for dexterous robotic grasping
MT Ciocarlie, PK Allen - The International Journal of …, 2009 - journals.sagepub.com
In this paper we focus on the concept of low-dimensional posture subspaces for artificial
hands. We begin by discussing the applicability of a hand configuration subspace to the …
hands. We begin by discussing the applicability of a hand configuration subspace to the …
Dynamical system modulation for robot learning via kinesthetic demonstrations
M Hersch, F Guenter, S Calinon… - IEEE Transactions on …, 2008 - ieeexplore.ieee.org
We present a system for robust robot skill acquisition from kinesthetic demonstrations. This
system allows a robot to learn a simple goal-directed gesture and correctly reproduce it …
system allows a robot to learn a simple goal-directed gesture and correctly reproduce it …
Platform portable anthropomorphic grasping with the bielefeld 20-DOF shadow and 9-DOF TUM hand
We present a strategy for grasping of real world objects with two anthropomorphic hands,
the three-fingered 9-DOF hydraulic TUM and the very dextrous 20-DOF pneumatic Bielefeld …
the three-fingered 9-DOF hydraulic TUM and the very dextrous 20-DOF pneumatic Bielefeld …
[PDF][PDF] Dexterous grasping via eigengrasps: A low-dimensional approach to a high-complexity problem
In this paper, we build upon recent advances in neuroscience research which have shown
that control of the human hand during grasping is dominated by movement in a configuration …
that control of the human hand during grasping is dominated by movement in a configuration …
On the feasibility of learning finger-gaiting in-hand manipulation with intrinsic sensing
G Khandate, M Haas-Heger… - … Conference on Robotics …, 2022 - ieeexplore.ieee.org
Finger-gaiting manipulation is an important skill to achieve large-angle in-hand re-
orientation of objects. However, achieving these gaits with arbitrary orientations of the hand …
orientation of objects. However, achieving these gaits with arbitrary orientations of the hand …
[图书][B] An algebraic approach to abstraction in reinforcement learning
B Ravindran - 2004 - search.proquest.com
To operate effectively in complex environments learning agents require the ability to form
useful abstractions, that is, the ability to selectively ignore irrelevant details. Stated in …
useful abstractions, that is, the ability to selectively ignore irrelevant details. Stated in …
Learning hierarchical control for robust in-hand manipulation
Robotic in-hand manipulation has been a longstanding challenge due to the complexity of
modelling hand and object in contact and of coordinating finger motion for complex …
modelling hand and object in contact and of coordinating finger motion for complex …
Adaptive fingers coordination for robust grasp and in-hand manipulation under disturbances and unknown dynamics
F Khadivar, A Billard - IEEE Transactions on Robotics, 2023 - ieeexplore.ieee.org
We present a control framework for achieving a robust object grasp and manipulation in
hand. In-hand manipulation remains a demanding task as the object is never stable and task …
hand. In-hand manipulation remains a demanding task as the object is never stable and task …