2 papers
cs.RO2022
Towards Task-Specific Modular Gripper Fingers: Automatic Production of Fingertip Mechanics
Johannes Ringwald, Samuel Schneider, Lingyun Chen +4
The number of sequential tasks a single gripper can perform is significantly limited by its design. In many cases, changing the gripper fingers is required to successfully conduct…
cs.RO2018
A Framework for Robot Manipulation: Skill Formalism, Meta Learning and Adaptive Control
Lars Johannsmeier, Malkin Gerchow, Sami Haddadin
In this paper we introduce a novel framework for expressing and learning force-sensitive robot manipulation skills. It is based on a formalism that extends our previous work on ada…