A Framework for Dexterous Manipulation
| Autor: | Erik Learned-Mille, Jonathan Rogers, Julia Badger, Li Yang Ku, Rod Grupen, Philip Strawser |
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| Rok vydání: | 2018 |
| Předmět: |
0301 basic medicine
0209 industrial biotechnology Modality (human–computer interaction) Computer science 02 engineering and technology Variety (cybernetics) 03 medical and health sciences 030104 developmental biology 020901 industrial engineering & automation Human–computer interaction Dexterous manipulation Task analysis Robot Humanoid robot |
| Zdroj: | IROS |
| Popis: | In this work, we introduce a framework for performing dexterous manipulations on the humanoid robot Robonaut-2. This framework memorizes how actions change perceptions and can learn a sequence of actions based on demonstrations. With the anthropomorphic Robonaut-2 hand and arm, a variety of manipulation tasks such as grasping novel objects, rotating a drill for grasping, and tightening a bolt with a ratchet can be accomplished. This framework was also used to compete in the IROS2018 Fan Robotic Challenge that requires manipulating a hand fan and was a winner of the phase I modality A competition. |
| Databáze: | OpenAIRE |
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