One post tagged with "Hand"

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.