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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Detalhes bibliográficos

Principais autores:	Haobo Kang, Hongjun Ma, Weichang Li
Formato:	Artigo
Idioma:	Inglês
Publicado em:	IEEE 2025-01-01
coleção:	IEEE Access
Assuntos:	Contact-rich manipulation vision-tactile perception viscoelastic materials learning from demonstration robotic hand 3D Kelvin–Voigt and Maxwell models
Acesso em linha:	https://ieeexplore.ieee.org/document/11088097/
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