Learning Compliance Adaptation in Contact-Rich Manipulation
Compliant robot behavior is crucial for the realization of contact-rich manipulation tasks. In such tasks, it is important to ensure a high stiffness and force tracking accuracy during normal task execution as well as rapid adaptation and complaint behavior to react to abnormal situations and changes. In this paper, we propose a novel approach for learning predictive models of force profiles required for contact-rich tasks. Such models allow detecting unexpected situations and facilitates better adaptive control. The approach combines an anomaly detection based on Bidirectional Gated Recurrent Units (Bi-GRU) and an adaptive force/impedance controller. We evaluated the approach in simulated and real world experiments on a humanoid robot.The results show that the approach allow simultaneous high tracking accuracy of desired motions and force profile as well as the adaptation to force perturbations due to physical human interaction.
Code (0)
등록된 구현이 없습니다.
Tasks
Anomaly DetectionContact-rich ManipulationSimilar Papers 제목 키워드 기반
Current as Touch: Proprioceptive Contact Feedback for Compliant Dexterous Manipulation
Compliance is essential for dexterous manipulation, yet existing solutions often rely on external tactile or force sensors that are costly, fragile, and difficult to deploy on low-cost robot hands. We propose a proprioce…
CompliantVLA-adaptor: VLM-Guided Variable Impedance Action for Safe Contact-Rich Manipulation
We propose a CompliantVLA-adaptor that augments the state-of-the-art Vision-Language-Action (VLA) models with vision-language model (VLM)-informed context-aware variable impedance control (VIC) to improve the safety and …
Learning Variable Compliance Control From a Few Demonstrations for Bimanual Robot with Haptic Feedback Teleoperation System
Automating dexterous, contact-rich manipulation tasks using rigid robots is a significant challenge in robotics. Rigid robots, defined by their actuation through position commands, face issues of excessive contact forces…
ChunkingContact-rich ManipulationVIDP: Variable Impedance Diffusion Policy for Compliant Robot Manipulation from Diverse Demonstrations
Contact-rich manipulation requires precise tracking and mechanical compliance, where variable impedance control can improve robustness in task success, whereas static compliance cannot adapt to varying contact constraint…
Robot ManipulationPaCo-VLA: Passivity-Shielded Compliance Prior for Contact-Rich Vision-Language-Action Manipulation
Contact-rich manipulation demands both high-level semantic reasoning and the safe regulation of high-frequency contact dynamics. While Vision-Language-Action (VLA) models provide unprecedented semantic generalization, th…