RMPs for Safe Impedance Control in Contact-Rich Manipulation

Conference Paper

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.

Full Text

Duke Authors

Cited Authors

  • Shaw, S; Abbatematteo, B; Konidaris, G

Published Date

  • January 1, 2022

Published In

Start / End Page

  • 2707 - 2713

International Standard Serial Number (ISSN)

  • 1050-4729

International Standard Book Number 13 (ISBN-13)

  • 9781728196817

Digital Object Identifier (DOI)

  • 10.1109/ICRA46639.2022.9811986

Citation Source

  • Scopus