Yasunori Toshimitsu, Benedek Forrai, Barnabas Gavin Cangan, Ulrich Steger, Manuel Knecht, Stefan Weirich, Robert K. Katzschmann
This work introduces the biomimetic tendon-driven Faive Hand and its system architecture, which uses tendon-driven rolling contact joints to achieve a 3D printable, robust high-DoF hand design. We model each element of the hand and integrate it into a GPU simulation environment to train a policy with RL, and achieve zero-shot transfer of a dexterous in-hand sphere rotation skill to the physical robot hand.
project website: srl-ethz.github.io/get-ball-r...
arxiv: arxiv.org/abs/2308.02453
Tutorial: create your own MJCF robot model and simulate it in IsaacGym: yasunori.xyz/en/2024/07/13/mu...
Негізгі бет Ғылым және технология Getting the Ball Rolling: Learning a Dexterous Policy for a Biomimetic Tendon-Driven Hand
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