Real Robot Challenge 2021: Cartesian Position Control with Triangle Grasp and Trajectory Interpolation

arxiv(2022)

引用 0|浏览4
暂无评分
摘要
We present our runner-up approach for the Real Robot Challenge 2021. We build upon our previous approach used in Real Robot Challenge 2020. To solve the task of sequential goal-reaching we focus on two aspects to achieving near-optimal trajectory: Grasp stability and Controller performance. In the RRC 2021 simulated challenge, our method relied on a hand-designed Pinch grasp combined with Trajectory Interpolation for better stability during the motion for fast goal-reaching. In Stage 1, we observe reverting to a Triangular grasp to provide a more stable grasp when combined with Trajectory Interpolation, possibly due to the sim2real gap. The video demonstration for our approach is available at https://youtu.be/dlOueoaRWrM. The code is publicly available at https://github.com/madan96/benchmark-rrc.
更多
查看译文
关键词
cartesian position control,trajectory interpolation,grasp,triangle
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络