/tactile-control

This module allows to carry out a three-finger stable grasp, according to the Task 3-1 of the TACMAN project.

Primary LanguageC++GNU General Public License v2.0GPL-2.0

Module description

This module allows to carry out a three-finger stable grasp, according to the Task 3-1 of the TACMAN project. First, the fingers move towards the object and stop when a contact is detected, then the hand configuration changes to improve stability, exploiting a Gaussian mixture model trained using learning by demonstration.

Dependencies

  • YARP
  • icub-main
  • icub-contrib

How to compile

For Linux users: go to the folder plant-identification and type the following commands.

mkdir build
cd build
ccmake ..
make install

How to run

  • run skinManager
  • run plantIdentification --whichHand <hand> --icub <icub>, where:
    • <hand> is the hand to use (left/right)
    • <icub> is the iCub to use (iit_black/iit_purple/tum_darmstadt)
  • connect to the rpc port /plantIdentification/cmd:i, several commands are available, in particular:
    • grasp runs the stable grasp
    • open stops the current task and open the hand
    • help lists all the other commands available

Publications

Hierarchical Grasp Controller using Tactile Feedback, M. Regoli, U. Pattacini, G. Metta, L. Natale, IEEE International Conference on Humanoid Robots, 2016