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cs.RO2026
Learning Controlled Separation of Small Objects Between Two Fingers with a Tactile Skin
Ulf Kasolowsky, Berthold Bäuml
We introduce and solve the novel task of controlled separation of small objects with two fingers of a multi-purpose robotic hand: after grasping into a box of small objects, the ta…
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…