Sep 24, 2021 · Abstract:Variable impedance control in operation-space is a promising approach to learning contact-rich manipulation behaviors.
We show how to combine Riemannian Motion Policies, a class of policies that dynamically generate motion in the presence of safety and collision constraints, ...
This work shows how to combine Riemannian Motion Policies, a class of policies that dynamically generate motion in the presence of safety and collision ...
May 23, 2022 · Variable impedance control in operation-space is a promising approach to learning contact-rich manipulation behaviors.
Sep 11, 2024 · Variable impedance control in operation-space is a promising approach to learning contact-rich manipulation behaviors.
... This reactivity makes RMPs well suited for handling disturbances and adapting to changing conditions. However, the application of RMPs has primarily been ...
RMPs for Safe Impedance Control in Contact-Rich Manipulation. In Proceedings of the 2022 IEEE International Conference on Robotics and Automation (ICRA) ...
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Jul 27, 2022 · In this paper, we propose a contact-safe reinforcement learning framework for contact-rich robot manipulation, which maintains safety in both ...
Rmps for safe impedance control in contact-rich manipulation. 2022 International Conference on Robotics and Automation (ICRA), IEEE (2022), pp. 2707-2713.
Dec 18, 2023 · The end-effector impedance can be configured to ensure safety in interaction-rich tasks. Particularly, impedance control enables an engineering ...