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Computer Science > Robotics

arXiv:2203.08371 (cs)
[Submitted on 16 Mar 2022 (v1), last revised 19 Mar 2022 (this version, v2)]

Title:Real Robot Challenge 2021: Cartesian Position Control with Triangle Grasp and Trajectory Interpolation

Authors:Rishabh Madan, Harshit Sikchi, Ethan K. Gordon, Tapomayukh Bhattacharjee
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Abstract:We present our runner-up approach for the Real Robot Challenge 2021. We build upon our previous approach used in Real Robot Challenge 2020. To solve the task of sequential goal-reaching we focus on two aspects to achieving near-optimal trajectory: Grasp stability and Controller performance. In the RRC 2021 simulated challenge, our method relied on a hand-designed Pinch grasp combined with Trajectory Interpolation for better stability during the motion for fast goal-reaching. In Stage 1, we observe reverting to a Triangular grasp to provide a more stable grasp when combined with Trajectory Interpolation, possibly due to the sim2real gap. The video demonstration for our approach is available at this https URL. The code is publicly available at this https URL.
Subjects: Robotics (cs.RO)
Cite as: arXiv:2203.08371 [cs.RO]
  (or arXiv:2203.08371v2 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2203.08371

Submission history

From: Harshit Sikchi [view email]
[v1] Wed, 16 Mar 2022 03:34:11 UTC (1,872 KB)
[v2] Sat, 19 Mar 2022 05:52:17 UTC (1,872 KB)
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