881 citations · 1.9k across the 36 of their papers we have counts for
3 papers · 1 filter
Uncertainty-aware Contact-safe Model-based Reinforcement Learning
Cheng-Yu Kuo, Andreas Schaarschmidt, Yunduan Cui +2
This letter presents contact-safe Model-based Reinforcement Learning (MBRL) for robot applications that achieves contact-safe behaviors in the learning process. In typical MBRL, we…
A Soft Humanoid Hand with In-Finger Visual Perception
Felix Hundhausen, Julia Starke, Tamim Asfour
We present a novel underactued humanoid five finger soft hand, the KIT \softhand, which is equipped with cameras in the fingertips and integrates a high performance embedded system…
Learning Compliance Adaptation in Contact-Rich Manipulation
Jianfeng Gao, You Zhou, Tamim Asfour
Compliant robot behavior is crucial for the realization of contact-rich manipulation tasks. In such tasks, it is important to ensure a high stiffness and force tracking accuracy du…