Model-based Cartesian Impedance Control (Phase 3)Download PDF

Anonymous

Jan 27, 2021 (edited Jan 27, 2021)RCC 2020 Challenge Blind SubmissionReaders: Everyone
  • Keywords: impedance control, Bayesian optimization
  • TL;DR: Model-based Cartesian Impedance Control for the Real Robot Challenge
  • Abstract: For this last phase, we adapted our model-based cartesian impedance controller in three ways: An improved pre-grasping position controller, refined grasping points and obtaining new hyperparameters through Bayesian optimization on the real system. Combined, these three adaptations enabled us to tackle the significantly more challenging cuboid object, which required more delicate manipulation compared to the cube. Videos can be found at: https://sites.google.com/view/robotchallenge-modelbased
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