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cs.RO2024
A Contact Model based on Denoising Diffusion to Learn Variable Impedance Control for Contact-rich Manipulation
Masashi Okada, Mayumi Komatsu, Tadahiro Taniguchi
In this paper, a novel approach is proposed for learning robot control in contact-rich tasks such as wiping, by developing Diffusion Contact Model (DCM). Previous methods of learni…
cs.RO2023★ 1 cited
Learning Compliant Stiffness by Impedance Control-Aware Task Segmentation and Multi-objective Bayesian Optimization with Priors
Masashi Okada, Mayumi Komatsu, Ryo Okumura +1
Rather than traditional position control, impedance control is preferred to ensure the safe operation of industrial robots programmed from demonstrations. However, variable stiffne…