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RMPs for Safe Impedance Control in Contact-Rich Manipulation

Publication ,  Conference
Shaw, S; Abbatematteo, B; Konidaris, G
Published in: Proceedings - IEEE International Conference on Robotics and Automation
January 1, 2022

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.

Duke Scholars

Published In

Proceedings - IEEE International Conference on Robotics and Automation

DOI

ISSN

1050-4729

ISBN

9781728196817

Publication Date

January 1, 2022

Start / End Page

2707 / 2713
 

Citation

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Shaw, S., Abbatematteo, B., & Konidaris, G. (2022). RMPs for Safe Impedance Control in Contact-Rich Manipulation. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 2707–2713). https://doi.org/10.1109/ICRA46639.2022.9811986
Shaw, S., B. Abbatematteo, and G. Konidaris. “RMPs for Safe Impedance Control in Contact-Rich Manipulation.” In Proceedings - IEEE International Conference on Robotics and Automation, 2707–13, 2022. https://doi.org/10.1109/ICRA46639.2022.9811986.
Shaw S, Abbatematteo B, Konidaris G. RMPs for Safe Impedance Control in Contact-Rich Manipulation. In: Proceedings - IEEE International Conference on Robotics and Automation. 2022. p. 2707–13.
Shaw, S., et al. “RMPs for Safe Impedance Control in Contact-Rich Manipulation.” Proceedings - IEEE International Conference on Robotics and Automation, 2022, pp. 2707–13. Scopus, doi:10.1109/ICRA46639.2022.9811986.
Shaw S, Abbatematteo B, Konidaris G. RMPs for Safe Impedance Control in Contact-Rich Manipulation. Proceedings - IEEE International Conference on Robotics and Automation. 2022. p. 2707–2713.

Published In

Proceedings - IEEE International Conference on Robotics and Automation

DOI

ISSN

1050-4729

ISBN

9781728196817

Publication Date

January 1, 2022

Start / End Page

2707 / 2713