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• W2210408922 abstract "Dexterous manipulation enables repositioning of objects and tools within a robot's hand. When applying dexterous manipulation to unknown objects, exact object models are not available. Instead of relying on models, compliance and tactile feedback can be exploited to adapt to unknown objects. However, compliant hands and tactile sensors add complexity and are themselves difficult to model. Hence, we propose acquiring in-hand manipulation skills through reinforcement learning, which does not require analytic dynamics or kinematics models. In this paper, we show that this approach successfully acquires a tactile manipulation skill using a passively compliant hand. Additionally, we show that the learned tactile skill generalizes to novel objects." @default.
• W2210408922 created "2016-06-24" @default.
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• W2210408922 date "2015-11-01" @default.
• W2210408922 modified "2023-10-14" @default.
• W2210408922 title "Learning robot in-hand manipulation with tactile features" @default.
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• W2210408922 doi "https://doi.org/10.1109/humanoids.2015.7363524" @default.
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