Robots of the Lost Arc: Self-Supervised Learning to Dynamically Manipulate Fixed-Endpoint Cables
Harry Zhang Jeffrey Ichnowski Daniel Seita Jonathan Wang Huang Huang Ken Goldberg Harry Zhang Jeffrey Ichnowski Daniel Seita Jonathan Wang Huang Huang Ken Goldberg
We explore how high-speed robot arm motions can dynamically manipulate ropes and cables to vault over obstacles, knock objects from pedestals, and weave between obstacles. In this paper, we propose a self-supervised learning framework that enables a UR5 robot to perform these three tasks. The framework finds a 3D apex point for the robot arm, which, together with a task-specific trajectory functio...