OSCAR: Data-Driven Operational Space Control for Adaptive and Robust Robot Manipulation

Wong, Josiah; Makoviychuk, Viktor; Anandkumar, Anima; Zhu, Yuke

doi:10.48550/arxiv.2110.00704

Cited by 2 publications

(2 citation statements)

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“…This controller is immediately available on the real-world Franka robot via the libfranka library [23]. • Operational-space (OSC) motion controller, which uses the task-space inertia matrix and gravity compensation to generate joint torques, achieving desired springdamper behavior in task-space (akin to [101]). • Open-loop force controller, which converts a task-space force target into joint torques.…”

Section: Controllersmentioning

confidence: 99%

Factory: Fast Contact for Robotic Assembly

Narang¹,

Storey²,

Akinola³

et al. 2022

Robotics: Science and Systems XVIII

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Robotic assembly is one of the oldest and most challenging applications of robotics. In other areas of robotics, such as perception and grasping, simulation has rapidly accelerated research progress, particularly when combined with modern deep learning. However, accurately, efficiently, and robustly simulating the range of contact-rich interactions in assembly remains a longstanding challenge. In this work, we present Factory, a set of physics simulation methods and robot learning tools for such applications. We achieve real-time or faster simulation of a wide range of contact-rich scenes, including simultaneous simulation of 1000 nut-and-bolt interactions. We provide 60 carefullydesigned part models, 3 robotic assembly environments, and 7 robot controllers for training and testing virtual robots. Finally, we train and evaluate proof-of-concept reinforcement learning policies for nut-and-bolt assembly. We aim for Factory to open the doors to using simulation for robotic assembly, as well as many other contact-rich applications in robotics. Please see our website for supplementary content, including videos. 1

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Section: Controllersmentioning

confidence: 99%

Factory: Fast Contact for Robotic Assembly

Narang¹,

Storey²,

Akinola³

et al. 2022

Robotics: Science and Systems XVIII

View full text Add to dashboard Cite

show abstract

“…This controller is immediately available on the real-world Franka robot via the libfranka library [24]. • Operational-space (OSC) motion controller, which uses the task-space inertia matrix and gravity compensation to generate joint torques, achieving desired springdamper behavior in task-space (akin to [102]). • Open-loop force controller, which converts a task-space force target into joint torques.…”

Section: Controllersmentioning

confidence: 99%