Learning and generalizing force control policies for sculpting

Abstract

Humans exhibit exceptional skills in using tools and manipulating objects of their environment by skillfully controlling exerted force and arm impedance. One of the basic components of this mechanism is the generation of internal models which associate kinematic variables with applied force. On the other hand, making robots capable of skillfully using tools… (More)
DOI: 10.1109/IROS.2012.6385957

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