no code implementations • 3 Dec 2024 • Ziyang Cheng, Xiangyu Tian, Ruomin Sui, Tiemin Li, Yao Jiang
Based on generalized stiffness, this paper proposes an adaptive parameter adjustment strategy using a PI controller as an example, enabling dynamic force tracking for objects with varying characteristics.
no code implementations • 16 Sep 2024 • Mingxuan Li, Lunwei Zhang, Tiemin Li, Yao Jiang
In this article, we propose an approach for learning grasping from ideal force control demonstrations, to achieve similar performance of human hands with limited data size.