Dexterous Manoeuvre through Touch in a Cluttered Scene
Wenyu Liang Qinyuan Ren Xiaoqiao Chen Junli Gao Yan Wu Wenyu Liang Qinyuan Ren Xiaoqiao Chen Junli Gao Yan Wu
Manipulation in a densely cluttered environment creates complex challenges in perception to close the control loop, many of which are due to the sophisticated physical interaction between the environment and the manipulator. Drawing from biological sensory-motor control, to handle the task in such a scenario, tactile sensing can be used to provide an additional dimension of the rich contact inform...