A Framework for Dexterous Manipulation

Li Yang Ku; Jonathan Rogers; Philip Strawser; Julia Badger; Erik Learned-Mille; Rod Grupen

IROS 2018poster0 citations

A Framework for Dexterous Manipulation

Li Yang Ku, Jonathan Rogers, Philip Strawser, Julia Badger, Erik Learned-Mille, Rod Grupen

Abstract

In this work, we introduce a framework for performing dexterous manipulations on the humanoid robot Robonaut-2. This framework memorizes how actions change perceptions and can learn a sequence of actions based on demonstrations. With the anthropomorphic Robonaut-2 hand and arm, a variety of manipulation tasks such as grasping novel objects, rotating a drill for grasping, and tightening a bolt with a ratchet can be accomplished. This framework was also used to compete in the IROS2018 Fan Robotic Challenge that requires manipulating a hand fan and was a winner of the phase I modality A competition.

BibTeX

@inproceedings{iros2018_aframeworkfordex,
  title = {A Framework for Dexterous Manipulation},
  author = {Li Yang Ku and Jonathan Rogers and Philip Strawser and Julia Badger and Erik Learned-Mille and Rod Grupen},
  booktitle = {IROS 2018},
  year = {2018}
}