2 papers
cs.RO2024
Fine Manipulation Using a Tactile Skin: Learning in Simulation and Sim-to-Real Transfer
Ulf Kasolowsky, Berthold Bäuml
We want to enable fine manipulation with a multi-fingered robotic hand by using modern deep reinforcement learning methods. Key for fine manipulation is a spatially resolved tactil…
cs.RO2024
A Learning-based Controller for Multi-Contact Grasps on Unknown Objects with a Dexterous Hand
Dominik Winkelbauer, Rudolph Triebel, Berthold Bäuml
Existing grasp controllers usually either only support finger-tip grasps or need explicit configuration of the inner forces. We propose a novel grasp controller that supports arbit…