This video shows how knowledge of expected tactile events can be used to correct for erroneous perception. Using a combination of force control and feedback into a movement primitive, the robot can compensate for even very large errors in perception and creates a robust grasping behavior. The associated paper behind this research received the Overall Best Paper Award at IROS 2011.
Designed by: Nerses Ohanyan & Jan Peters
Page last modified on January 12, 2012, at 08:46 PM