CATCH-FORM-ACTer: Compliance-Aware Tactile Control and Hybrid Deformation Regulation-Based Action Transformer for Viscoelastic Object Manipulation

CATCH-FORM-ACTer: Compliance-Aware Tactile Control and Hybrid Deformation Regulation-Based Action Transformer for Viscoelastic Object Manipulation

Automating contact-rich manipulation of viscoelastic objects with rigid robots faces challenges including dynamic parameter mismatches, unstable contact oscillations, and spatiotemporal force-deformation coupling. In our prior work, a Compliance-Aware Tactile Control and Hybrid Deformation Regulatio...

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Bibliographic Details
Main Authors: Haobo Kang, Hongjun Ma, Weichang Li
Format: Article
Language:English
Published: IEEE 2025-01-01
Series:IEEE Access
Subjects:
Contact-rich manipulation
vision-tactile perception
viscoelastic materials
learning from demonstration
robotic hand
3D Kelvin–Voigt and Maxwell models
Online Access:https://ieeexplore.ieee.org/document/11088097/
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https://ieeexplore.ieee.org/document/11088097/

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