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Learning Wrist Policies for Anthropomorphic Soft Power Grasping in Handle and Door Manipulation
Voigt, Florian Naceri, Abdeldjallil Haddadin, Sami
Voigt, Florian
Naceri, Abdeldjallil
Haddadin, Sami
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Department
Robotics
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Journal article
Date
2025
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Language
English
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Abstract
In this work, we advance robotic grasping by incorporating wrist compliance in a unified hand-arm system inspired by human limb coordination This integration improves grasping reliability and robustness through impedance and force learning in robotic arms The compliant wrist system effectively compensates for uncertainties in object position and orientation Employing a combined impedance-force control approach, we address diverse grasping and manipulation tasks in simulation Successfully transferring the learned policy to a service humanoid mobile robot enables the seamless execution of grasping and opening tasks for various doors and handles without additional learning, using both fully actuated and underactuated robotic hands Remarkably, our robust strategies yielded only one failure in 30 trials for the underactuated hand, even with up to 8 cm translation normal to the handle and 33° rotation errors, and no failures for the fully actuated one with up to 12 cm translation and 30° rotation This significantly outperforms state-of-the-art end-to-end reinforcement learning approaches Furthermore, we successfully tested and validated our approach across various constrained everyday tasks in different environments Our proposed framework represents an advancement in the learning and execution of power grasping with compliant manipulation, achieving practically relevant performance © 2004-2012 IEEE
Citation
F. Voigt, A. Naceri and S. Haddadin, "Learning Wrist Policies for Anthropomorphic Soft Power Grasping in Handle and Door Manipulation," in IEEE Transactions on Robotics, vol. 41, pp. 3738-3759, 2025, doi: 10.1109/TRO.2025.3576950
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IEEE Transactions on Robotics
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Keywords
Constrained, Contact-rich manipulation, Grasping and manipulation, Robotic hands, Sim-to-real transfer
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Publisher
IEEE