@workshop{Dave2022WS,

title = {Can we infer the full-arm manipulation skills from tactile targets?},

author = {Vedant Dave and Elmar Rueckert},

url = {https://cloud.cps.unileoben.ac.at/index.php/f/562953},

year  = {2022},

date = {2022-11-28},

urldate = {2022-11-28},

abstract = {Tactile sensing provides significant information about the state of the environment for performing manipulation tasks. Manipulation skills depends on the desired initial contact points between the object and the end-effector. Based on physical properties of the object, this contact results into distinct tactile responses. We propose Tactile Probabilistic Movement Primitives (TacProMPs), to learn a highly non-linear relationship between the desired tactile responses and the full-arm movement, where we condition solely on the tactile responses to infer the complex manipulation skills. We use a Gaussian mixture model of primitives to address the multimodality in demonstrations. We demonstrate the performance of our method in challenging real-world scenarios.},

keywords = {Grasping, Manipulation, Movement Primitives, Tactile Sensing, University of Leoben},

pubstate = {published},

tppubtype = {workshop}

}