Reproduce “Tracing Energy Flow: Learning Tactile-based Grasping Force Control to Reduce Slippage in Dynamic Object Interaction” on OpenResearch
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About this paper
Cheng-Yu Kuo, Hirofumi Shin, Takamitsu Matsubara
The authors learn grip-force adjustments for dynamic object manipulation using contact-derived energy estimates. They compare fingertip work with energy implied by object motion. In simulation, tactile-energy control reaches similar final performance to object-observed energy planning. On hardware, grasp duration improves within one minute of interaction, while the full learning process averages 512 ± 30.4 seconds.
Summary by alphaXiv.
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