Project publications will be listed here.
2022 |
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Dave, Vedant; Rueckert, Elmar Can we infer the full-arm manipulation skills from tactile targets? Workshop 2022. Abstract | Links | BibTeX | Tags: Grasping, Manipulation, Movement Primitives, Tactile Sensing, University of Leoben @workshop{Dave2022WS, 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. |