5 papers
TIAGo RL: Simulated Reinforcement Learning Environments with Tactile Data for Mobile Robots
Luca Lach, Francesco Ferro, Robert Haschke
Tactile information is important for robust performance in robotic tasks that involve physical interaction, such as object manipulation. However, with more data included in the rea…
Bio-Inspired Grasping Controller for Sensorized 2-DoF Grippers
Luca Lach, Séverin Lemaignan, Francesco Ferro +2
We present a holistic grasping controller, combining free-space position control and in-contact force-control for reliable grasping given uncertain object pose estimates. Employing…
Towards Transferring Tactile-based Continuous Force Control Policies from Simulation to Robot
Luca Lach, Robert Haschke, Davide Tateo +4
The advent of tactile sensors in robotics has sparked many ideas on how robots can leverage direct contact measurements of their environment interactions to improve manipulation ta…
Placing by Touching: An empirical study on the importance of tactile sensing for precise object placing
Luca Lach, Niklas Funk, Robert Haschke +4
This work deals with a practical everyday problem: stable object placement on flat surfaces starting from unknown initial poses. Common object-placing approaches require either com…
Leveraging Touch Sensors to Improve Mobile Manipulation
Luca Lach, Robert Haschke, Francesco Ferro +1
Despite many advances in service robotics, successful and secure object manipulation on mobile platforms is still a challenge. In order to come closer to human grasping performance…