Efficient Online Learning of Contact Force Models for Connector Insertion

Contact-rich manipulation tasks with stiff frictional elements like connector insertion are difficult to model with rigid-body simulators. In this work, we propose a new approach for modeling these environments by learning a quasi-static contact force model instead of a full simulator. Using a featu...

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Bibliographische Detailangaben

Hauptverfasser:	Tracy, Kevin, Manchester, Zachary, Jain, Ajinkya, Go, Keegan, Schaal, Stefan, Erez, Tom, Tassa, Yuval
Format:	Artikel
Sprache:	eng
Schlagworte:	Computer Science - Robotics
Online-Zugang:	Volltext bestellen
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