wilson-ko / tactile-control

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