RMPs for Safe Impedance Control in Contact-Rich Manipulation

Variable impedance control in operation-space is a promising approach to learning contact-rich manipulation behaviors. One of the main challenges with this approach is producing a manipulation behavior that ensures the safety of the arm and the environment. Such behavior is typically implemented via a reward function that penalizes unsafe actions (e.g. obstacle collision, joint limit extension), but that approach is not always effective and does not result in behaviors that can be reused in slightly different environments. We show how to combine Riemannian Motion Policies, a class of policies that dynamically generate motion in the presence of safety and collision constraints, with variable impedance operation-space control to learn safer contact-rich manipulation behaviors.

• Publication year

  2021

• Venue

  IEEE International Conference on Robotics and Automation

• Publication date

  2021-09-24

• Fields of study

  Computer Science, Engineering

• Identifiers
  DOI 10.1109/icra46639.2022.9811986arXiv 2109.12103
• External record

  Open on Semantic Scholar

• Source metadata

  Semantic Scholar

• No claims are published for this paper.

• No concepts are published for this paper.

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