Model-based Cartesian Impedance Control

Anonymous

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: https://sites.google.com/view/robotchallenge-modelbased