RMPs for Safe Impedance Control in Contact-Rich Manipulation

24 September 2021

Papers citing "RMPs for Safe Impedance Control in Contact-Rich Manipulation"

17 / 17 papers shown

Title
Geometric Impedance Control on SE(3) for Robotic Manipulators Joohwan Seo N. Prakash Alexander Rose Jongeun Choi R. Horowitz 54 13 0 15 Nov 2022
RMP2: A Structured Composable Policy Class for Robot Learning Anqi Li Ching-An Cheng M. A. Rana Mandy Xie Karl Van Wyk Nathan D. Ratliff Byron Boots 37 18 0 10 Mar 2021
Composable Geometric Motion Policies using Multi-Task Pullback Bundle Dynamical Systems Andrew Bylard Riccardo Bonalli Marco Pavone 23 13 0 05 Jan 2021
Variable impedance control and learning -- A review Fares J. Abu-Dakka Matteo Saveriano AI4CE 61 149 0 13 Oct 2020
robosuite: A Modular Simulation Framework and Benchmark for Robot Learning Yuke Zhu J. Wong Ajay Mandlekar Roberto Martín-Martín Abhishek Joshi Soroush Nasiriany Yifeng Zhu Soroush Nasiriany Yifeng Zhu 144 436 0 25 Sep 2020
RMPflow: A Geometric Framework for Generation of Multi-Task Motion Policies Ching-An Cheng Mustafa Mukadam J. Issac Stan Birchfield Dieter Fox Byron Boots Nathan D. Ratliff 19 34 0 25 Jul 2020
Guided Uncertainty-Aware Policy Optimization: Combining Learning and Model-Based Strategies for Sample-Efficient Policy Learning Michelle A. Lee Carlos Florensa Jonathan Tremblay Nathan D. Ratliff Animesh Garg Fabio Ramos Dieter Fox 78 60 0 21 May 2020
DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm System Ankur Handa Karl Van Wyk Wei Yang Jacky Liang Yu-Wei Chao Qian Wan Stan Birchfield Nathan D. Ratliff Dieter Fox 45 201 0 07 Oct 2019
Riemannian Motion Policy Fusion through Learnable Lyapunov Function Reshaping Mustafa Mukadam Ching-An Cheng Dieter Fox Byron Boots Nathan D. Ratliff 33 23 0 07 Oct 2019
Variable Impedance Control in End-Effector Space: An Action Space for Reinforcement Learning in Contact-Rich Tasks Roberto Martín-Martín Michelle A. Lee Rachel Gardner Silvio Savarese Jeannette Bohg Animesh Garg 46 194 0 20 Jun 2019
End-to-End Safe Reinforcement Learning through Barrier Functions for Safety-Critical Continuous Control Tasks Richard Cheng G. Orosz R. Murray J. W. Burdick 37 613 0 21 Mar 2019
RMPflow: A Computational Graph for Automatic Motion Policy Generation Ching-An Cheng Mustafa Mukadam J. Issac Stan Birchfield Dieter Fox Byron Boots Nathan D. Ratliff 20 82 0 16 Nov 2018
A Lyapunov-based Approach to Safe Reinforcement Learning Yinlam Chow Ofir Nachum Edgar A. Duénez-Guzmán Mohammad Ghavamzadeh 138 504 0 20 May 2018
Linear model predictive safety certification for learning-based control K. P. Wabersich Melanie Zeilinger 25 166 0 22 Mar 2018
Riemannian Motion Policies Nathan D. Ratliff J. Issac Daniel Kappler Stan Birchfield Dieter Fox 24 145 0 09 Jan 2018
Safe Model-based Reinforcement Learning with Stability Guarantees Felix Berkenkamp M. Turchetta Angela P. Schoellig Andreas Krause 122 845 0 23 May 2017
Real-time Perception meets Reactive Motion Generation Daniel Kappler Franziska Meier J. Issac Jim Mainprice C. Cifuentes Manuel Wüthrich V. Berenz S. Schaal Nathan D. Ratliff Jeannette Bohg 32 98 0 10 Mar 2017