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 graspopen
stops the current task and open the handhelp
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