Model-based Cartesian Impedance ControlDownload PDF


Nov 16, 2020 (edited Jan 27, 2021)RCC 2020 Challenge Blind SubmissionReaders: Everyone
  • Keywords: impedance control
  • TL;DR: Model-based Cartesian Impedance Control for the Real Robot Challenge
  • Abstract: For this phase, our model-based cartesian impedance was improved three ways: A refined, holistic formulation, task decomposition for complex manipulations and Bayesian optimization of the hyperparameters. Combined, these three additions dramatically improved grasping and manipulation performance on the real system. Videos:
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