2 posts tagged with "Controls"

Goal: get a stationary bimanual arm to return a badminton serve with either hand, in simulation. The result is one single-arm network that drives both arms, and a small critic model to pick either the left or right arm. On 8192 serves it has never seen, it hits 97.9%, splits the work 49/51 between the arms, and sends 94% of returns over the net.

Goal: try the impedance controller out in simulation before it touches hardware. Check it actually works, add what it turns out to need (friction feedforward, a torque cap, the wrist angle), and catch problems like the wrist early, so the bench work is just system ID: measuring a few numbers, not debugging the controller.

Each finger holds a target angle and stays soft: it pushes with a force you set and gives way when pushed. It needs only the motor encoders and the wrist angle. All results are from simulation in MuJoCo.